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Dissertations / Theses on the topic 'Human-robot interaction'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Kruse, Thibault. "Planning for human robot interaction." Thesis, Toulouse 3, 2015. http://www.theses.fr/2015TOU30059/document.

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Les avancées récentes en robotique inspirent des visions de robots domestiques et de service rendant nos vies plus faciles et plus confortables. De tels robots pourront exécuter différentes tâches de manipulation d'objets nécessaires pour des travaux de ménage, de façon autonome ou en coopération avec des humains. Dans ce rôle de compagnon humain, le robot doit répondre à de nombreuses exigences additionnelles comparées aux domaines bien établis de la robotique industrielle. Le but de la planification pour les robots est de parvenir à élaborer un comportement visant à satisfaire un but et qui

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2

Bodiroža, Saša. "Gestures in human-robot interaction." Doctoral thesis, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät, 2017. http://dx.doi.org/10.18452/17705.

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Gesten sind ein Kommunikationsweg, der einem Betrachter Informationen oder Absichten übermittelt. Daher können sie effektiv in der Mensch-Roboter-Interaktion, oder in der Mensch-Maschine-Interaktion allgemein, verwendet werden. Sie stellen eine Möglichkeit für einen Roboter oder eine Maschine dar, um eine Bedeutung abzuleiten. Um Gesten intuitiv benutzen zukönnen und Gesten, die von Robotern ausgeführt werden, zu verstehen, ist es notwendig, Zuordnungen zwischen Gesten und den damit verbundenen Bedeutungen zu definieren -- ein Gestenvokabular. Ein Menschgestenvokabular definiert welche Gesten

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3

Miners, William Ben. "Toward Understanding Human Expression in Human-Robot Interaction." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/789.

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Intelligent devices are quickly becoming necessities to support our activities during both work and play. We are already bound in a symbiotic relationship with these devices. An unfortunate effect of the pervasiveness of intelligent devices is the substantial investment of our time and effort to communicate intent. Even though our increasing reliance on these intelligent devices is inevitable, the limits of conventional methods for devices to perceive human expression hinders communication efficiency. These constraints restrict the usefulness of intelligent devices to support our a

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4

Akan, Batu. "Human Robot Interaction Solutions for Intuitive Industrial Robot Programming." Licentiate thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14315.

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Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thu

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5

Topp, Elin Anna. "Human-Robot Interaction and Mapping with a Service Robot : Human Augmented Mapping." Doctoral thesis, Stockholm : School of computer science and communication, KTH, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-4899.

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6

Huang, Chien-Ming. "Joint attention in human-robot interaction." Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/41196.

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Joint attention, a crucial component in interaction and an important milestone in human development, has drawn a lot of attention from the robotics community recently. Robotics researchers have studied and implemented joint attention for robots for the purposes of achieving natural human-robot interaction and facilitating social learning. Most previous work on the realization of joint attention in the robotics community has focused only on responding to joint attention and/or initiating joint attention. Responding to joint attention is the ability to follow another's direction of gaze and gest

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7

Bremner, Paul. "Conversational gestures in human-robot interaction." Thesis, University of the West of England, Bristol, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.557106.

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Humanoid service robotics is a rapidly developing field of research. One desired purpose of such service robots is for them to be able to interact and cooperate with people. In order for them to be able to do so successfully they need to be able to communicate effectively. One way of achieving this is for humanoid robots to communicate in a human-like way resulting in easier, more familiar and ultimately more successful human-robot interaction. An integral part of human communications is co-verbal gesture; thus, investigation into a means of their production and whether they engender the desir

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8

Fiore, Michelangelo. "Decision Making in Human-Robot Interaction." Thesis, Toulouse, INSA, 2016. http://www.theses.fr/2016ISAT0049/document.

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Un intérêt croissant est aujourd'hui porté sur les robots capables de conduire des activités de collaboration d'une manière naturelle et efficace. Nous avons développé une architecture et un système qui traitent des aspects décisionnels de ce problème. Nous avons mis en oeuvre cette architecture pour traiter trois problèmes différents: le robot observateur, le robot équipier et enfin le robot instructeur. Dans cette thèse, nous discutons des défis et problématiques de la coopération homme-robot, puis nous décrivons l'architecture que nous avons développée et enfin détaillons sa mise oeuvre et

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9

Alanenpää, Madelene. "Gaze detection in human-robot interaction." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-428387.

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The aim of this thesis is to track gaze direction in a human-robot interaction scenario.The human-robot interaction consisted of a participant playing a geographic gamewith three important objects on which participants could focus: A tablet, a sharedtouchscreen, and a robot (called Furhat). During the game, the participant wasequipped with eye-tracking glasses. These collected a first-person view video as wellas annotations consisting of the participant's center of gaze. In this thesis, I aim to usethis data to detect the three important objects described above from the first-personvideo strea

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10

Almeida, Luís Miguel Martins. "Human-robot interaction for object transfer." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/22374.

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Mestrado em Engenharia Mecânica<br>Robots come into physical contact with humans under a variety of circumstances to perform useful work. This thesis has the ambitious aim of contriving a solution that leads to a simple case of physical human-robot interaction, an object transfer task. Firstly, this work presents a review of the current research within the field of Human-Robot Interaction, where two approaches are distinguished, but simultaneously required: a pre-contact approximation and an interaction by contact. Further, to achieve the proposed objectives, this dissertation addresses a poss

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Kaupp, Tobias. "Probabilistic Human-Robot Information Fusion." Thesis, The University of Sydney, 2008. http://hdl.handle.net/2123/2554.

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This thesis is concerned with combining the perceptual abilities of mobile robots and human operators to execute tasks cooperatively. It is generally agreed that a synergy of human and robotic skills offers an opportunity to enhance the capabilities of today’s robotic systems, while also increasing their robustness and reliability. Systems which incorporate both human and robotic information sources have the potential to build complex world models, essential for both automated and human decision making. In this work, humans and robots are regarded as equal team members who interact and communi

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Kaupp, Tobias. "Probabilistic Human-Robot Information Fusion." University of Sydney, 2008. http://hdl.handle.net/2123/2554.

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PhD<br>This thesis is concerned with combining the perceptual abilities of mobile robots and human operators to execute tasks cooperatively. It is generally agreed that a synergy of human and robotic skills offers an opportunity to enhance the capabilities of today’s robotic systems, while also increasing their robustness and reliability. Systems which incorporate both human and robotic information sources have the potential to build complex world models, essential for both automated and human decision making. In this work, humans and robots are regarded as equal team members who interact and

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13

Ali, Muhammad. "Contribution to decisional human-robot interaction: towards collaborative robot companions." Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00719684.

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L'interaction homme-robot arrive dans une phase intéressante ou la relation entre un homme et un robot est envisage comme 'un partenariat plutôt que comme une simple relation maitre-esclave. Pour que cela devienne une réalité, le robot a besoin de comprendre le comportement humain. Il ne lui suffit pas de réagir de manière appropriée, il lui faut également être socialement proactif. Pour que ce comportement puis être mise en pratique le roboticien doit s'inspirer de la littérature déjà riche en sciences sociocognitives chez l'homme. Dans ce travail, nous allons identifier les éléments clés d'u

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Ali, Muhammad. "Contributions to decisional human-robot interaction : towards collaborative robot companions." Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0003/document.

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L'interaction homme-robot arrive dans une phase intéressante ou la relation entre un homme et un robot est envisage comme 'un partenariat plutôt que comme une simple relation maitre-esclave. Pour que cela devienne une réalité, le robot a besoin de comprendre le comportement humain. Il ne lui suffit pas de réagir de manière appropriée, il lui faut également être socialement proactif. Pour que ce comportement puis être mise en pratique le roboticien doit s'inspirer de la littérature déjà riche en sciences sociocognitives chez l'homme. Dans ce travail, nous allons identifier les éléments clés d'u

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15

Mazhar, Osama. "Vision-based human gestures recognition for human-robot interaction." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS044.

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Dans la perspective des usines du futur, pour garantir une interaction productive, sure et efficace entre l’homme et le robot, il est impératif que le robot puisse interpréter l’information fournie par le collaborateur humain. Pour traiter cette problématique nous avons exploré des solutions basées sur l’apprentissage profond et avons développé un framework pour la détection de gestes humains. Le framework proposé permet une détection robuste des gestes statiques de la main et des gestes dynamiques de la partie supérieure du corps.Pour la détection des gestes statiques de la main, openpose est

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16

Jou, Yung-Tsan. "Human-Robot Interactive Control." Ohio University / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1082060744.

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17

Kuo, I.-Han. "Designing Human-Robot Interaction for service applications." Thesis, University of Auckland, 2012. http://hdl.handle.net/2292/19438.

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As service robots are intended to serve at close range and cater to the needs of human users, Human-Robot Interaction (HRI) has been identified as one of the most difficult and critical challenges in research for the success of service robotics. In particular, HRI requires highly complex software integration to enable a robot to communicate in a manner that is natural and intuitive to the human user. An initial service robot prototype was developed by integrating several existing research projects at the University of Auckland and deployed in a user study. The result showed the need for more H

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18

Ponsler, Brett. "Recognizing Engagement Behaviors in Human-Robot Interaction." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/109.

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Based on analysis of human-human interactions, we have developed an initial model of engagement for human-robot interaction which includes the concept of connection events, consisting of: directed gaze, mutual facial gaze, conversational adjacency pairs, and backchannels. We implemented the model in the open source Robot Operating System and conducted a human-robot interaction experiment to evaluate it.

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Holroyd, Aaron. "Generating Engagement Behaviors in Human-Robot Interaction." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/328.

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Based on a study of the engagement process between humans, I have developed models for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, adjacency pairs and backchannels. I have developed and validated a reusable Robot Operating System (ROS) module that supports engagement between a human and a humanoid robot by generating appropriate connection events. The module implements policies for adding gaze and pointing gestures to referring phrases (including deictic and anaphoric references), performing end-of-turn gazes, responding to human-initiated

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20

Marín, Urías Luis Felipe. "Reasoning about space for human-robot interaction." Toulouse 3, 2009. http://thesesups.ups-tlse.fr/1195/.

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L'interaction Homme-Robot est un domaine de recherche qui se développe de manière exponentielle durant ces dernières années, ceci nous procure de nouveaux défis au raisonnement géométrique du robot et au partage d'espace. Le robot pour accomplir une tâche, doit non seulement raisonner sur ses propres capacités, mais également prendre en considération la perception humaine, c'est à dire "Le robot doit se placer du point de vue de l'humain". Chez l'homme, la capacité de prise de perspective visuelle commence à se manifester à partir du 24ème mois. Cette capacité est utilisée pour déterminer si u

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Valibeik, Salman. "Human robot interaction in a crowded environment." Thesis, Imperial College London, 2010. http://hdl.handle.net/10044/1/5677.

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Human Robot Interaction (HRI) is the primary means of establishing natural and affective communication between humans and robots. HRI enables robots to act in a way similar to humans in order to assist in activities that are considered to be laborious, unsafe, or repetitive. Vision based human robot interaction is a major component of HRI, with which visual information is used to interpret how human interaction takes place. Common tasks of HRI include finding pre-trained static or dynamic gestures in an image, which involves localising different key parts of the human body such as the face and

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22

Ahmed, Muhammad Rehan. "Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction." Doctoral thesis, Örebro universitet, Akademin för naturvetenskap och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-13986.

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Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition. Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, thi

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23

Toris, Russell C. "Bringing Human-Robot Interaction Studies Online via the Robot Management System." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-theses/1058.

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"Human-Robot Interaction (HRI) is a rapidly expanding field of study that focuses on allowing non-roboticist users to naturally and effectively interact with robots. The importance of conducting extensive user studies has become a fundamental component of HRI research; however, due to the nature of robotics research, such studies often become expensive, time consuming, and limited to constrained demographics. This work presents the Robot Management System, a novel framework for bringing robotic experiments to the web. A detailed description of the open source system, an outline of new security

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Nitz, Pettersson Hannes, and Samuel Vikström. "VISION-BASED ROBOT CONTROLLER FOR HUMAN-ROBOT INTERACTION USING PREDICTIVE ALGORITHMS." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54609.

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The demand for robots to work in environments together with humans is growing. This calls for new requirements on robots systems, such as the need to be perceived as responsive and accurate in human interactions. This thesis explores the possibility of using AI methods to predict the movement of a human and evaluating if that information can assist a robot with human interactions. The AI methods that were used is a Long Short Term Memory(LSTM) network and an artificial neural network(ANN). Both networks were trained on data from a motion capture dataset and on four different prediction times:

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Ameri, Ekhtiarabadi Afshin. "Unified Incremental Multimodal Interface for Human-Robot Interaction." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-13478.

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Face-to-face human communication is a multimodal and incremental process. Humans employ different information channels (modalities) for their communication. Since some of these modalities are more error-prone to specic type of data, a multimodal communication can benefit from strengths of each modality and therefore reduce ambiguities during the interaction. Such interfaces can be applied to intelligent robots who operate in close relation with humans. With this approach, robots can communicate with their human colleagues in the same way they communicate with each other, thus leading to an ea

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Vogt, David. "Learning Continuous Human-Robot Interactions from Human-Human Demonstrations." Doctoral thesis, Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola", 2018. http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-233262.

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In der vorliegenden Dissertation wurde ein datengetriebenes Verfahren zum maschinellen Lernen von Mensch-Roboter Interaktionen auf Basis von Mensch-Mensch Demonstrationen entwickelt. Während einer Trainingsphase werden Bewegungen zweier Interakteure mittels Motion Capture erfasst und in einem Zwei-Personen Interaktionsmodell gelernt. Zur Laufzeit wird das Modell sowohl zur Erkennung von Bewegungen des menschlichen Interaktionspartners als auch zur Generierung angepasster Roboterbewegungen eingesetzt. Die Leistungsfähigkeit des Ansatzes wird in drei komplexen Anwendungen evaluiert, die jeweil

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Peltason, Julia [Verfasser]. "Modeling Human-Robot-Interaction based on generic Interaction Patterns / Julia Peltason." Bielefeld : Universitätsbibliothek Bielefeld, 2014. http://d-nb.info/1052650937/34.

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Najar, Anis. "Shaping robot behaviour with unlabeled human instructions." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066152.

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La plupart des systèmes d'apprentissage interactifs actuels s'appuient sur des protocoles prédéfinis qui peuvent être contraignants pour l'utilisateur. Cette thèse aborde le problème de l'interprétation des instructions, afin de relâcher la contrainte de prédéterminer leurs significations. Nous proposons un système permettant à un humain de guider l'apprentissage d'un robot, à travers des instructions non labellisées. Notre approche consiste à ancrer la signification des signaux instructifs dans le processus d'apprentissage de la tâche et à les utiliser simultanément pour guider l'apprentissag

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Beer, Jenay M. "Understanding older adults' perceptions of usefulness of an assistive home robot." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50404.

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Developing robots that are useful to older adults is more than simply creating robots that complete household tasks. To ensure that older adults perceive a robot to be useful, careful consideration of the users’ capabilities, robot autonomy, and task is needed (Venkatesh & Davis, 2000). The purpose of this study was to investigate the construct of perceived usefulness within the context of robot assistance. Mobile older adults (N = 12) and older adults with mobility loss (N=12) participated in an autonomy selection think aloud task, and a persona based interview. Findings suggest that olde

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Lirussi, Igor. "Human-Robot interaction with low computational-power humanoids." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/19120/.

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This article investigates the possibilities of human-humanoid interaction with robots whose computational power is limited. The project has been carried during a year of work at the Computer and Robot Vision Laboratory (VisLab), part of the Institute for Systems and Robotics in Lisbon, Portugal. Communication, the basis of interaction, is simultaneously visual, verbal, and gestural. The robot's algorithm provides users a natural language communication, being able to catch and understand the person’s needs and feelings. The design of the system should, consequently, give it the capability to d

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Morvan, Jérémy. "Understanding and communicating intentions in human-robot interaction." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-166445.

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This thesis is about the collaboration and interaction between a robot and a human agent. The goal is to use the robot as a coworker, by implementing the premises of an interaction system that would make the interaction as natural as possible. This involves that the robot has a vision system that allows understanding of the intentions of the human. This thesis work is intended to be part of a larger project aimed at extending the competences of the programmable industrial robot, Baxter, made by Rethink Robotics. Due to the limited vision abilities of this robot, a Kinect camera is added on the

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Busch, Baptiste. "Optimization techniques for an ergonomic human-robot interaction." Thesis, Bordeaux, 2018. http://www.theses.fr/2018BORD0027/document.

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L’interaction Humain-Robot est un domaine de recherche en pleine expansion parmi la communauté robotique. De par sa nature il réunit des chercheurs venant de domaines variés, tels que psychologie, sociologie et, bien entendu, robotique. Ensemble, ils définissent et dessinent les robots avec lesquels nous interagirons dans notre quotidien.Comme humains et robots commencent à travailler en environnement partagés, la diversité des tâches qu’ils peuvent accomplir augmente drastiquement. Cela créé de nombreux défis et questions qu’il nous faut adresser, en terme de sécurité et d’acceptation des sys

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Palathingal, Xavier P. "A framework for long-term human-robot interaction /." abstract and full text PDF (free order & download UNR users only), 2007. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1446798.

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Thesis (M.S.)--University of Nevada, Reno, 2007.<br>"May, 2007." Includes bibliographical references (leaves 44-46). Online version available on the World Wide Web. Library also has microfilm. Ann Arbor, Mich. : ProQuest Information and Learning Company, [2007]. 1 microfilm reel ; 35 mm.

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Kapellmann-Zafra, Gabriel. "Human-swarm robot interaction with different awareness constraints." Thesis, University of Sheffield, 2017. http://etheses.whiterose.ac.uk/19396/.

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Swarm robots are not yet ready to work in real world environments in spaces shared with humans. The real world is unpredictable, complex and dynamic, and swarm systems still are unable to adapt to unexpected situations. However, if humans were able to share their experience and knowledge with these systems, swarm robots could be one step closer to work outside the research labs. To achieve this, research must be done challenging human interaction with more realistic real world environment constraints. This thesis presents a series of studies that explore how human operators with limited situat

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Dondrup, Christian. "Human-robot spatial interaction using probabilistic qualitative representations." Thesis, University of Lincoln, 2016. http://eprints.lincoln.ac.uk/28665/.

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Current human-aware navigation approaches use a predominantly metric representation of the interaction which makes them susceptible to changes in the environment. In order to accomplish reliable navigation in ever-changing human populated environments, the presented work aims to abstract from the underlying metric representation by using Qualitative Spatial Relations (QSR), namely the Qualitative Trajectory Calculus (QTC), for Human-Robot Spatial Interaction (HRSI). So far, this form of representing HRSI has been used to analyse different types of interactions online. This work extends this re

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Pai, Abhishek. "Distance-Scaled Human-Robot Interaction with Hybrid Cameras." University of Cincinnati / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1563872095430977.

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Mangera, Ra'eesah. "Gesture recognition with application to human-robot interaction." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/13732.

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Gestures are a natural form of communication, often transcending language barriers. Recently, much research has been focused on achieving natural human-machine interaction using gestures. This dissertation presents the design of a gestural interface that can be used to control a robot. The system consists of two modes: far-mode and near-mode. In far-mode interaction, upper-body gestures are used to control the motion of a robot. Near-mode interaction uses static hand poses to control a graphical user interface. For upper-body gesture recognition, features are extracted from skeletal data. The

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Chauhan, Aneesh. "Grounding human vocabulary in robot perception through interaction." Doctoral thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/12841.

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Doutoramento em Engenharia Informática<br>This thesis addresses the problem of word learning in computational agents. The motivation behind this work lies in the need to support language-based communication between service robots and their human users, as well as grounded reasoning using symbols relevant for the assigned tasks. The research focuses on the problem of grounding human vocabulary in robotic agent’s sensori-motor perception. Words have to be grounded in bodily experiences, which emphasizes the role of appropriate embodiments. On the other hand, language is a cultural product

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Neranon, Paramin. "Human-robot interaction using a behavioural control strategy." Thesis, University of Newcastle upon Tyne, 2015. http://hdl.handle.net/10443/2780.

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A topical and important aspect of robotics research is in the area of human-robot interaction (HRI), which addresses the issue of cooperation between a human and a robot to allow tasks to be shared in a safe and reliable manner. This thesis focuses on the design and development of an appropriate set of behaviour strategies for human-robot interactive control by first understanding how an equivalent human-human interaction (HHI) can be used to establish a framework for a robotic behaviour-based approach. To achieve the above goal, two preliminary HHI experimental investigations were initiated i

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GARCIA, C. A. C. "Human-Robot Interaction Strategies for Walker-Assisted Locomotion." Universidade Federal do Espírito Santo, 2015. http://repositorio.ufes.br/handle/10/9725.

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Made available in DSpace on 2018-08-02T00:02:04Z (GMT). No. of bitstreams: 1 tese_8979_[Cifuentes2015]Thesis20160322-161800.pdf: 19912329 bytes, checksum: 99cc718d614e10d2d6cce22fe9e19124 (MD5) Previous issue date: 2015-06-25<br>Neurological and age-related diseases affect human mobility at different levels causing partial or total loss of such faculty. There is a significant need to improve safe and efficient ambulation of patients with gait impairments. In this context, walkers present important benefits for human mobility, improving balance and reducing the load on their lower limbs. Most

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Rahimi, Nohooji Hamed. "Adaptive Neural Control for Safe Human-Robot Interaction." Thesis, Curtin University, 2017. http://hdl.handle.net/20.500.11937/68285.

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This thesis studies safe human-robot interaction utilizing the neural adaptive control design. First, novel tangent and secant barrier Lyapunov functions are constructed to provide stable position and velocity constrained controls, respectively. Then, neural backpropagation and the concept of the inverse differential Riccati equation are utilized to achieve the impedance adaption control for assistive human-robot interaction, and the optimal robot-environment interaction control, respectively. Finally, adaptive neural assist-as-needed control is developed for assistive robotic rehabilitation.

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PASQUALI, DARIO. "Social Engineering Defense Solutions Through Human-Robot Interaction." Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1092333.

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Social Engineering is the science of using social interaction to influence others on taking computer-related actions of attacker’s interest. It is used to steal credentials, money, or people’s identities. After being left unchecked for a long time, social engineering is raising increasing concerns. Despite its social nature, state-of-the-art defense systems mainly focus on engineering factors. They detect technical features specific to the medium employed in the attack (e.g., phishing emails), or they train final users on detecting them. However, the crucial aspects of social engineering ar

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ROSELLI, CECILIA. "Vicarious Sense of Agency in Human-Robot Interaction." Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1070568.

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Sense of Agency (SoA) is the feeling of having control over one’s actions and outcomes. In humans’ daily life, SoA shapes whether, and how, people feel responsible for their actions, which has profound implications for the organization of human societies. Thus, SoA has received considerable attention in psychology and cognitive neuroscience, which tried to identify the cognitive mechanism underlying the emergence of the individual experience of agency. However, humans are inherently social animals, who are deeply immersed in social contexts with others. Thus, investigations of SoA cannot be li

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LANZA, Francesco. "Human-Robot Teaming Interaction: a Cognitive Architecture Solution." Doctoral thesis, Università degli Studi di Palermo, 2021. http://hdl.handle.net/10447/479089.

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Devin, Sandra. "Decisional issues during human-robot joint action." Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/19921/1/DEVIN_Sandra.pdf.

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In the future, robots will become our companions and co-workers. They will gradually appear in our environment, to help elderly or disabled people or to perform repetitive or unsafe tasks. However, we are still far from a real autonomous robot, which would be able to act in a natural, efficient and secure manner with humans. To endow robots with the capacity to act naturally with human, it is important to study, first, how humans act together. Consequently, this manuscript starts with a state of the art on joint action in psychology and philosophy before presenting the implementation of the pr

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Burke, Michael Glen. "Fast upper body pose estimation for human-robot interaction." Thesis, University of Cambridge, 2015. https://www.repository.cam.ac.uk/handle/1810/256305.

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This work describes an upper body pose tracker that finds a 3D pose estimate using video sequences obtained from a monocular camera, with applications in human-robot interaction in mind. A novel mixture of Ornstein-Uhlenbeck processes model, trained in a reduced dimensional subspace and designed for analytical tractability, is introduced. This model acts as a collection of mean-reverting random walks that pull towards more commonly observed poses. Pose tracking using this model can be Rao-Blackwellised, allowing for computational efficiency while still incorporating bio-mechanical properties o

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Puehn, Christian G. "Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction." Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.

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Lasota, Przemyslaw A. (Przemyslaw Andrzej). "Robust human motion prediction for safe and efficient human-robot interaction." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122497.

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Thesis: Ph. D. in Autonomous Systems, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2019<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 175-188).<br>From robotic co-workers in factories to assistive robots in homes, human-robot interaction (HRI) has the potential to revolutionize a large array of domains by enabling robotic assistance where it was previously not possible. Introducing robots into human-occupied domains, however, requires strong consideration for the safety and efficiency of the interaction. One particu

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DE, PACE FRANCESCO. "Natural and multimodal interfaces for human-machine and human-robot interaction." Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2918004.

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Ashcraft, C. Chace. "Moderating Influence as a Design Principle for Human-Swarm Interaction." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7406.

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Robot swarms have recently become of interest in both industry and academia for their potential to perform various difficult or dangerous tasks efficiently. As real robot swarms become more of a possibility, many desire swarms to be controlled or directed by a human, which raises questions regarding how that should be done. Part of the challenge of human-swarm interaction is the difficulty of understanding swarm state and how to drive the swarm to produce emergent behaviors. Human input could inhibit desirable swarm behaviors if their input is poor and has sufficient influence over swarm agent

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