United States

This work is concerned with the center of mass estimator for bipedal robots and aims at developing its new design framework with linear inverted pendulum model of bipedal robots. This work constructs an assumption that the variations of the CoM height from a fixed point can be regarded as bounded persistent unknown elements. Then we develop the l1 optimal CoM estimator, by which the effect of the bounded persistent elements on the CoM estimation would be minimized.

IEEE RO-MAN 2021

On the L1 Optimal State Estimator with Application to Bipedal Robots

state estimation

l1 optimal

lipm

**31st IEEE International Conference on Robot & Human Interactive Communication**
 This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.
 
 The conference covers a wide range of topics related to Robot and Human Interactive Communication, involving theories, methodologies, technologies, empirical and experimental studies. Papers related to the study of robotic technology, psychology, cognitive science, artificial intelligence, human factors, ethics and policies, interaction-based robot design and other topics related to human-robot interaction are welcome.
 
 **CONFERENCE THEME:**
 Social, asocial, and antisocial robots
 
 Robots are starting to populate our lives: at work, in our homes, hotels, shops. However, not everybody is comfortable with robots finding a place in society. For example, people may be afraid that robots will replace humans in their jobs. This belief is exacerbated by the media that, on one side, raise expectations of robots’ capabilities, while amplifying fears and worries on the other side.
 
 In the next years, due to the increasing request for interaction with people in social environments, academic research and market analyses predict that robots will become more and more “social”. But, at the same time, robots may incur the risk of being perceived as “asocial” as their pervasiveness in everyday environments may become an obstacle to social interaction between humans. Or they may even be rejected as “antisocial” if researchers do not take care to develop robots that behave according to the customs and habits of the communities where they are expected to operate.
 
 To prevent this from happening, robotic researchers can no longer take the luxury of being mere technicians. They must be capable of addressing all the challenges raised by future robot-populated communities in a multidisciplinary way. They need to share their knowledge with the public to make people aware of what robots really are, what expectations we can have from them, the risks we may incur, and the possible mitigation plans.
 
 While being open to any kind of contribution related to Human-Robot Interactive Communication, the RO-MAN 2022 conference will emphasize these aspects of robotic research. How can we create robots capable of being welcomed as our assistants and companions in society while, at the same time, not being perceived as “asocial” or “antisocial?” How can we create robots perceived as facilitators of the natural development of human beings and communities, rather than obstacles?
 
 Contributions from different disciplines, not exclusively related to technological development, will be welcomed as crucial to pave the way to global acceptance of future robots with an informed attitude.
 
 [![](https://assets.underline.io/uploads/markdown_image/1/image/af259abe105b3791c498ae1552d75710.png)](https://drive.google.com/file/d/18w73BZPB_JVOgcrcdZDqYpEupwVt4CnU/view?usp=sharing)

A registration is required to access this event page. If you have not already done so, please use the below link to register for the event. 

[Register Here](http://www.smile.unina.it/ro-man2022/welcome-to-ieee-ro-man-2022/)

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IEEE RO-MAN 2022

31st IEEE International Conference on Robot & Human Interactive Communication
This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.

technical paper

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. This theme also touches upon people's expectations and perceptions of robots, as well as other social, cognitive and cultural factors that will influence human-robot interactions. We will have a special session/track on this topic, invite targeted submissions and include plenary speakers who are specialist in this area. We sincerely hope that this focus will help enlighten the design-thinking of all of us as we fabricate and program our own various systems.

To access RO-MAN Virtual 2021, [please register here.](https://ro-man2021.org/registration/)

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. 

Socially assistive robots and body weight support devices can be used to provide infants with opportunities to engage in various motor actions. Using methodological tools from social networks, we identify and describe the complex nature of an infant’s motor actions displayed during their longitudinal interaction with both types of technology in a robot-assisted early learning environment. These tools may inform the development of such learning environments that can be applied at this critical life period in early intervention.

Network Analysis of an Infant's Motor Actions Performed in a Robot-Assisted Learning Environment

In this paper, a teleoperated robot prototype was designed and tested to allow law enforcement officers to remotely and transparently communicate and interact with others. The robot featured near face-to-face interactivity and accuracy across multiple verbal and non-verbal modes using screens, microphones, and speakers. In cooperation with multiple law enforcement agencies, results are presented on this dynamic and integrative teleoperated communicative robot platform in terms of attitudes towards robots, trust in robot operation, and trust in human-robot-human interaction and communication.

Analyzing Human-Robot Trust in Police Work Using a Teleoperated Communicative Robot

Human-to-robot handovers of unknown containers such as drinking glasses with liquids can be unsafe for the human and the robot. We propose a real-to-simulation framework to develop human-to-robot handovers safely with estimations of the human hands and containers from videos of humans manipulating the containers. We also propose a method for estimating a safe region on the container for grasping and quantify the safeness of the human and object in simulation using noisy estimates from a range of perceptual algorithms.

Social Drone Sharing to Increase the UAV Patrolling Autonomy in Emergency Scenarios.

Data-driven approaches for modeling human skeletal motion have found various applications in interactive media and social robotics. Challenges remain in these fields for generating high-fidelity samples and robustly reconstructing motion from imperfect input data, due to e.g. missed marker detection. In this paper, we propose a probabilistic generative model to synthesize and reconstruct long horizon motion sequences conditioned on past information and control signals, such as the path along which an individual is moving. Our method adapts the existing work MoGlow by introducing a new graph-based model. The model leverages the spatial-temporal graph convolutional network (ST-GCN) to effectively capture the spatial structure and temporal correlation of skeletal motion data at multiple scales. We evaluate the models on a mixture of motion capture datasets of human locomotion with foot-step and bone-length analysis. The results demonstrate the advantages of our model in reconstructing missing markers and achieving comparable results on generating realistic future poses. When the inputs are imperfect, our model shows improvements in the robustness of generation.

Defining Fairness in Human-Robot Teams

We propose a reinforcement learning model for the physical human–robot interaction. Our model estimates the opponent’s changing policy using variational autoencoder and expresses the agent’s policy in a common latent space. We verified the performance of the model using two novel physical and competitive environments, push-hand game and air-hockey in the simulator. The latent space worked properly as policy information of the agent’s own policy and that of the opponent.

Competitive Physical Interaction by Reinforcement Learning Agents Using Intention Estimation

The use of robotics in assisting humans and performingseveral different tasks is changing our lives. Unfortunately,for the execution of each new task, a time-consuming re-programming of the robot is necessary. This approach limitsthe adaptability of robots to new conditions. Ideally, robotsshould quickly adapt to unknown situations and learn directlyfrom experience or human demonstrations. What if even achild could teach a robot to drive autonomously?

Integrating an Observer in Interactive Reinforcement Learning to Learn Legible Trajectories

When developing AI systems that interact with humans, it is essential to design both a system that can understand humans, and a system that humans can understand. We develop a deep interpretable modular neural framework for modeling the intentions of other observed entities. We demonstrate the efficacy of our approach with experiments on data from human participants on a search and rescue task in Minecraft, and show that incorporating interpretability can significantly increase predictive performance under the right conditions.

Performing Human-Robot Interaction User Studies in Virtual Reality

We propose a force perturbation method to identify the human arm endpoint impedance behaviour in a dynamic task without specific requirements on force/position trajectories nor additional sensors placed on the human.
The method is illustrated through an experimental study on a cyclic benchmark interaction task, that offers sufficient variability to discard the use of previous patterns. The perturbations induce only low deviations in the movement that do not deteriorate the task and can barely be spotted by the user.

Calibrating Trust in Human-Drone Cooperative Navigation

We propose a framework for solving the mult-robot informating gathering problem leveraging a Gaussian Mixture Model (GMM) as prior knowledge for modeling informative regions in the target area. Taking samples from the GMM, informative robot paths are then computed that optimize the travel costs subject to energy budgets. Decomposing these paths into waypoints, robot trajectories are planned while respecting kinematic constraints and subsequently replanned online to
avoid collisions among themselves. The GMM model is incrementally updated by incorporating the gathered information. We demonstrate that our framework can achieve a significant amount of information gain with the optimal travel distance.

Education for New Human–Robot Coexistence: Countereffect and “Paragmatism” for the Weak Robot

The main contribution of this work is in the development of a long-term 12-month older adult co-design methodology for home social robot design with long-term co-design guidelines for how other researchers can adopt the methodology. Through the process, we promote co-design as a human-centered approach for designing robots, empowering older adults in the design of these technologies.

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On the L1 Optimal State Estimator with Application to Bipedal Robots

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Network Analysis of an Infant's Motor Actions Performed in a Robot-Assisted Learning Environment

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