Validating USARsim for use in HRI Research
نویسندگان
چکیده
HRI is an excellent candidate for simulator based research because of the relative simplicity of the systems being modeled, the behavioral fidelity possible with current physics engines and the capability of modern graphics cards to approximate camera video. In this paper we briefly introduce the USARsim simulation and discuss efforts to validate its behavior for use in Human Robot Interaction (HRI) research.
منابع مشابه
USARSim and HRI: from Teleoperated Cars to High Fidelity Teams
USARSim began as a human-robot interaction (HRI) research tool but has since found use in a much wider community and for purposes we had never envisioned. This paper describes a six year HRI research program at the University of Pittsburgh using the simulation. Our original work involved teleoperated control of single robots and primitive simulations. In the most recent experiment teams of oper...
متن کاملUSARSim: Simulation for the study of Human-Robot Interaction
The PackBots being used by the U.S. military in Afghanistan and the urban search and rescue (USAR) robots that worked the World Trade Center site are just two recent examples of mobile robots moving from the laboratory to the field. What is significant about these new applications is that they invariably involve some form of human-robot interaction (HRI) rather than the full robot autonomy that...
متن کاملValidating a Real-Time Word Learning Model Tested in USARSim and on a Real Robot
In this paper we present a novel vision-based word-learning model that was developed and first tested using the USARSim simulation environment before being validated in the real world. We describe the learning architecture and the steps we took to integrate USARSim into the system. Models that were trained in the simulator evolve similarly to those trained on input from cameras, and perform com...
متن کاملA Humanoid-Robotic Replica in USARSim for HRI Experiments
An important set of open questions in humanrobot interaction research, and to some extent cognitive science, is centered around the difference in interactions humans have with real versus simulated robots or agents. The goal of this research is to understand the effects of the agent’s embodiment on human perception and cognition. In this paper, we present our work on providing computational too...
متن کاملValidation of Images Produced within the USARSim Simulation Environment
A framework for validating the images produced by the USARSim simulation is set up. A standart college dormitory room is modeled in the simulation to produce a controlled virtual environment. Four basic image processing algorithms Canny edge detection, template matching, active contours and optical character recognition are implemented and metrics for evaluating their performance are defined. T...
متن کامل