Outputs (48)

Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments (2023)
Journal Article
Mitchell, D., Emor Baniqued, P. D., Zahid, A., West, A., Nouri Rahmat Abadi, B., Lennox, B., …Jiang, Z. (2023). Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments. IET Cyber-Systems and Robotics, 5(4), Article e12103. https://doi.org/10.1049/csy2.12103

AbstractNuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out (POCO) around nuclear facilities each year, resulting in a trend towards robotic deployments to gain an improved understanding duri... Read More about Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments.

Usability study of a novel triple-arm mixed-reality robot teleoperation system (2023)
Conference Proceeding
Sobhani, M., Smith, A., Giuliani, M., & Pipe, T. (2023). Usability study of a novel triple-arm mixed-reality robot teleoperation system. In IEEE 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (217-223). https://doi.org/10.1109/ssrr56537.2022.10018630

The usability of a novel triple-arm mixed-reality robot teleoperation system is investigated. The system is developed to provide a sense of remote presence for the operator. Different types of interfaces and camera setups have been proposed previousl... Read More about Usability study of a novel triple-arm mixed-reality robot teleoperation system.

Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology (2022)
Conference Proceeding
Bolarinwa, J., Smith, A., Aijaz, A., Stanoev, A., Sooriyabandara, M., & Giuliani, M. (2022). Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology. In 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (300-307). https://doi.org/10.1109/ssrr56537.2022.10018764

Communication delays and packet losses are commonly investigated issues in the area of robotic teleoperation. This paper investigates application of a novel low-power wireless control technology (GALLOP) in a haptic teleoperation scenario developed t... Read More about Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology.

Impact of resolution, colour, and motion on object identification in digital twins from robot sensor data (2022)
Journal Article
Bremner, P., & Giuliani, M. (2022). Impact of resolution, colour, and motion on object identification in digital twins from robot sensor data. Frontiers in Robotics and AI, 9, Article 995342. https://doi.org/10.3389/frobt.2022.995342

This paper makes a contribution to research on digital twins that are generated from robot sensor data. We present the results of an online user study in which 240 participants were tasked to identify real-world objects from robot point cloud data. I... Read More about Impact of resolution, colour, and motion on object identification in digital twins from robot sensor data.

User requirements for a robot teleoperation system for general medical examination (2022)
Conference Proceeding
Chirapornchai, C., Niyi-Odumosu, F., Giuliani, M., & Bremner, P. (2022). User requirements for a robot teleoperation system for general medical examination. In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (858-863). https://doi.org/10.1109/RO-MAN53752.2022.9900855

Thailand, as well as many other countries world-wide, is facing a shortage of medical staff. We purpose a solution to improve medical services in health centres: a robot teleoperation system to allow patients to consult with doctors from public hospi... Read More about User requirements for a robot teleoperation system for general medical examination.

Measuring visual social engagement from proxemics and gaze (2022)
Conference Proceeding
Webb, N., Giuliani, M., & Lemaignan, S. (2022). Measuring visual social engagement from proxemics and gaze. In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (757-762). https://doi.org/10.1109/RO-MAN53752.2022.9900801

When we approach a group, there is an exchange of a multitude of verbal or non-verbal social signals to indicate that we are looking to interact. We continue to share these signals throughout the interaction to portray our thoughts and motivations. W... Read More about Measuring visual social engagement from proxemics and gaze.

Demo: Untethered haptic teleoperation for nuclear decommissioning using a low-power wireless control technology (2022)
Conference Proceeding
Bolarinwa, J., Smith, A., Aijaz, A., Stanoev, A., & Giuliani, M. (2022). Demo: Untethered haptic teleoperation for nuclear decommissioning using a low-power wireless control technology. In IEEE INFOCOM 2022 - IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS). https://doi.org/10.1109/infocomwkshps54753.2022.9798082

Haptic teleoperation is typically realized through wired networking technologies (e.g., Ethernet) which guarantee performance of control loops closed over the communication medium, particularly in terms of latency, jitter, and reliability. This demon... Read More about Demo: Untethered haptic teleoperation for nuclear decommissioning using a low-power wireless control technology.

Physiological data measurement in digital manufacturing (2022)
Conference Proceeding
Agrawal, S., Chong, J., Yacoub, A. A., Giuliani, M., Jafari, A., & Etoundi, A. (2022). Physiological data measurement in digital manufacturing. In 2021 24th International Conference on Mechatronics Technology (ICMT). https://doi.org/10.1109/ICMT53429.2021.9687200

As industry is moving towards a new digital rev-olution, identifying workers' mental and physical status is key to improved productivity in a digital manufacturing scenario. The main objective here is to provide an overview of sensing technologies in... Read More about Physiological data measurement in digital manufacturing.

Mutual shaping in swarm robotics: User studies in fire and rescue, storage organization, and bridge inspection (2020)
Journal Article
Carrillo-Zapata, D., Milner, E., Hird, J., Tzoumas, G., Vardanega, P. J., Sooriyabandara, M., …Hauert, S. (2020). Mutual shaping in swarm robotics: User studies in fire and rescue, storage organization, and bridge inspection. Frontiers in Robotics and AI, 7, Article 53. https://doi.org/10.3389/frobt.2020.00053

Many real-world applications have been suggested in the swarm robotics literature. However, there is a general lack of understanding of what needs to be done for robot swarms to be useful and trusted by users in reality. This paper aims to investigat... Read More about Mutual shaping in swarm robotics: User studies in fire and rescue, storage organization, and bridge inspection.

Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust? (2020)
Conference Proceeding
Bridgwater, T., Giuliani, M., van Maris, A., Baker, G., Winfield, A., & Pipe, T. (2020). Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust?. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction. , (23-31). https://doi.org/10.1145/3319502.3374804

© 2020 Association for Computing Machinery. As autonomous robots move towards ubiquity, the need for robots to make decisions under risk that are trustworthy becomes increasingly significant; both to aid acceptance and to fully utilise their autonomo... Read More about Examining profiles for robotic risk assessment: Does a robot's approach to risk affect user trust?.

Immersive control of a robot surrogate for users in palliative care (2020)
Conference Proceeding
Mackey, B. A., Bremner, P. A., & Giuliani, M. (2020). Immersive control of a robot surrogate for users in palliative care. In Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI '20 Companion) (585-587). https://doi.org/10.1145/3371382.3377445

Quality of life (QoL) is especially important for palliative care patients, who can be at risk of mental health issues. This project aims to design and implement an immersive control system for a robotic surrogate, that allows users to interact as na... Read More about Immersive control of a robot surrogate for users in palliative care.

The effect of virtual reality control of a robotic surrogate on presence and social presence in comparison to telecommunications software (2020)
Conference Proceeding
Mackey, B. A., Bremner, P. A., & Giuliani, M. (2020). The effect of virtual reality control of a robotic surrogate on presence and social presence in comparison to telecommunications software. In Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI '20 Companion) (349-351). https://doi.org/10.1145/3371382.3378268

Telecommunication software is often used to tackle social isolation in those with restricted mobility, but lacks high-level interactions found in face-to-face conversation. This study investigated the use of an immersive control system for a robotic... Read More about The effect of virtual reality control of a robotic surrogate on presence and social presence in comparison to telecommunications software.

User-centred design and evaluation of a tele-operated echocardiography robot (2020)
Journal Article
Giuliani, M., Szczęśniak-Stańczyk, D., Mirnig, N., Stollnberger, G., Szyszko, M., Stańczyk, B., & Tscheligi, M. (2020). User-centred design and evaluation of a tele-operated echocardiography robot. Health and Technology, 10, 649-655. https://doi.org/10.1007/s12553-019-00399-0

We present the collected findings of a user-centred approach for developing a tele-operated robot for remote echocardiography examinations. During the three-year development of the robot, we involved users in all development stages of the robot, to i... Read More about User-centred design and evaluation of a tele-operated echocardiography robot.

Static and temporal differences in social signals between error-free and erroneous situations in human-robot collaboration (2019)
Conference Proceeding
Cahya, D. E., Ramakrishnan, R., & Giuliani, M. (2019). Static and temporal differences in social signals between error-free and erroneous situations in human-robot collaboration. In M. A. Salichs, S. S. Ge, E. I. Barakova, J. Cabibihan, A. R. Wagner, Ά. Castro-González, & H. He (Eds.), Social Robotics. , (189-199). https://doi.org/10.1007/978-3-030-35888-4_18

The capability of differentiating error situations from error-free situations in human-robot collaboration is a mandatory skill for collaborative robots. One of the variables that robots can analyse to differentiate both situations are the social sig... Read More about Static and temporal differences in social signals between error-free and erroneous situations in human-robot collaboration.

Development of a Debris Clearance Vehicle for Limited Access Environments (2019)
Presentation / Conference
West, C., Cheah, W., Rajasekaran, V., Stolkin, R., West, A., Arvin, F., …Lennox, B. (2019, January). Development of a Debris Clearance Vehicle for Limited Access Environments. Paper presented at 2nd UK-RAS ROBOTICS AND AUTONOMOUS SYSTEMS CONFERENCE, Loughborough, 2019, Loughborough, UK

A debris clearance robot for extreme environments (2019)
Journal Article
West, C., Giuliani, M., Lennox, B., Cheah, W., Arvin, F., West, A., & Watson, S. (2019). A debris clearance robot for extreme environments. Lecture Notes in Artificial Intelligence, 11649 LNAI, 148-159. https://doi.org/10.1007/978-3-030-23807-0_13

© Springer Nature Switzerland AG 2019. The need for nuclear decommissioning is increasing globally, as power stations and other facilities utilising nuclear reaches the end of their operational life. Currently the majority of decommissioning tasks ar... Read More about A debris clearance robot for extreme environments.

Confidence in uncertainty: Error cost and commitment in early speech hypotheses (2018)
Journal Article
Loth, S., Jettka, K., Giuliani, M., Kopp, S., & de Ruiter, J. (2018). Confidence in uncertainty: Error cost and commitment in early speech hypotheses. PLoS ONE, 13(8), Article e0201516. https://doi.org/10.1371/journal.pone.0201516

© 2018 Loth et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credi... Read More about Confidence in uncertainty: Error cost and commitment in early speech hypotheses.

Towards a cognitive architecture incorporating human feedback for interactive collaborative robots (2018)
Journal Article
Cahya, D. E., & Giuliani, M. (2018). Towards a cognitive architecture incorporating human feedback for interactive collaborative robots. Lecture Notes in Artificial Intelligence, 10965, 486-488. https://doi.org/10.1007/978-3-319-96728-8

The development of new collaborative robotic platforms opens the new possibility of human-robot collaborative scenarios provided that they are controlled by excellent control programs. Interactive collaborative robots need to be autonomous and posses... Read More about Towards a cognitive architecture incorporating human feedback for interactive collaborative robots.

Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators (2018)
Journal Article
Pitonakova, L., Giuliani, M., Pipe, A., & Winfield, A. (2018). Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators. Lecture Notes in Artificial Intelligence, 10965 LNAI, 357-368. https://doi.org/10.1007/978-3-319-96728-8_30

© Springer International Publishing AG, part of Springer Nature 2018. In this paper, the characteristics and performance of three open-source simulators for robotics, V-REP, Gazebo and ARGoS, are thoroughly analysed and compared. While they all allow... Read More about Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators.

Head and shoulders: Automatic error detection in human-robot interaction (2017)
Presentation / Conference
Trung, P., Giuliani, M., Miksch, M., Stollnberger, G., Stadler, S., Mirnig, N., & Tscheligi, M. (2017, November). Head and shoulders: Automatic error detection in human-robot interaction. Paper presented at 19th ACM International Conference on Multimodal Interaction, Glasgow, Scotland

We describe a novel method for automatic detection of errors in human-robot interactions. Our approach is to detect errors based on the classification of head and shoulder movements of humans who are interacting with erroneous robots. We conducted a... Read More about Head and shoulders: Automatic error detection in human-robot interaction.

Automatically Classifying User Engagement for Dynamic Multi-party Human–Robot Interaction (2017)
Journal Article
Foster, M. E., Gaschler, A., & Giuliani, M. (2017). Automatically Classifying User Engagement for Dynamic Multi-party Human–Robot Interaction. International Journal of Social Robotics, 9(5), 659-674. https://doi.org/10.1007/s12369-017-0414-y

© 2017, The Author(s). A robot agent designed to engage in real-world human–robot joint action must be able to understand the social states of the human users it interacts with in order to behave appropriately. In particular, in a dynamic public spac... Read More about Automatically Classifying User Engagement for Dynamic Multi-party Human–Robot Interaction.

To err is robot: How humans assess and act toward an erroneous social robot (2017)
Journal Article
Mirnig, N., Stollnberger, G., Miksch, M., Stadler, S., Giuliani, M., & Tscheligi, M. (2017). To err is robot: How humans assess and act toward an erroneous social robot. Frontiers in Robotics and AI, 4(MAY), 21. https://doi.org/10.3389/frobt.2017.00021

© 2017 Mirnig, Stollnberger, Miksch, Stadler, Giuliani and Tscheligi. We conducted a user study for which we purposefully programmed faulty behavior into a robot's routine. It was our aim to explore if participants rate the faulty robot different fro... Read More about To err is robot: How humans assess and act toward an erroneous social robot.

Industrial human-robot interaction: Creating personas for augmented reality supported robot control and teaching (2017)
Presentation / Conference
Stadler, S., Mirnig, N., Giuliani, M., Tscheligi, M., Materna, Z., & Kapinus, M. (2017, March). Industrial human-robot interaction: Creating personas for augmented reality supported robot control and teaching. Paper presented at ACM/IEEE International Conference on Human-Robot Interaction 2017, Vienna, Austria

In strong cooperation with small and medium-sized enterprises (SMEs), we research the simplification of industrial robot online-programming. For that, we extend existing programming interfaces with augmented reality (AR) technology. We proactively us... Read More about Industrial human-robot interaction: Creating personas for augmented reality supported robot control and teaching.

Tablet-based augmented reality in the factory: Influence of knowledge in computer programming on robot teaching tasks (2017)
Presentation / Conference
Kain, K. S., Stadler, S., Giuliani, M., Mirnig, N., Stollnberger, G., & Tscheligi, M. (2017, March). Tablet-based augmented reality in the factory: Influence of knowledge in computer programming on robot teaching tasks. Paper presented at ACM/IEEE International Conference on Human-Robot Interaction 2017, Vienna, Austria

We investigate whether a user’s background in computer programming has an influence on user’s mental workload, when using a tablet-based augmented reality robot control interface that visualizes task-based information. For this purpose we conducted a... Read More about Tablet-based augmented reality in the factory: Influence of knowledge in computer programming on robot teaching tasks.

Elements of humor: How humans perceive verbal and non-verbal aspects of humorous robot behavior (2017)
Presentation / Conference
Mirnig, N., Stollnberger, G., Giuliani, M., & Tscheligi, M. (2017, March). Elements of humor: How humans perceive verbal and non-verbal aspects of humorous robot behavior. Paper presented at ACM/IEEE International Conference on Human-Robot Interaction 2017, Vienna, Austria

We performed a preliminary online survey to explore if verbal and non-verbal robot humor elements influence how humans rate a robot's funniness. The video-based survey comprised four conditions, each showing a short clip of a NAO robot in a receptio... Read More about Elements of humor: How humans perceive verbal and non-verbal aspects of humorous robot behavior.

Using persona, scenario, and use case to develop a human-robot augmented reality collaborative workspace (2017)
Presentation / Conference
Materna, Z., Kapinus, M., Beran, V., Smrž, P., Giuliani, M., Mirnig, N., …Tscheligi, M. (2017, March). Using persona, scenario, and use case to develop a human-robot augmented reality collaborative workspace. Paper presented at ACM/IEEE International Conference on Human-Robot Interaction 2017, Vienna, Austria

Up to date, methods from Human-Computer Interaction (HCI) have not been widely adopted in the development of Human-Robot Interaction systems (HRI). In this paper, we describe a system prototype and a use case. The prototype is an augmented reality-ba... Read More about Using persona, scenario, and use case to develop a human-robot augmented reality collaborative workspace.

Designing user interfaces for different user groups: A three-way teleconference system for doctors, patients and assistants using a Remote Medical robot (2016)
Conference Proceeding
Zarczuk, R., Kreczmer, B., Wysokinski, A., Stollnberger, G., Giuliani, M., Mirnig, N., …Andrzej, W. (2016). Designing user interfaces for different user groups: A three-way teleconference system for doctors, patients and assistants using a Remote Medical robot. . https://doi.org/10.1109/ROMAN.2016.7745181

© 2016 IEEE. We present the design for a three-way medical teleconference system for communication between a doctor, a patient, and an assistant. The system includes individual doctor-patient and doctor-assistant communication channels, as well as th... Read More about Designing user interfaces for different user groups: A three-way teleconference system for doctors, patients and assistants using a Remote Medical robot.

Robot humor: How self-irony and Schadenfreude influence people's rating of robot likability (2016)
Conference Proceeding
Mirnig, N., Stadler, S., Stollnberger, G., Giuliani, M., & Tscheligi, M. (2016). Robot humor: How self-irony and Schadenfreude influence people's rating of robot likability. . https://doi.org/10.1109/ROMAN.2016.7745106

© 2016 IEEE. Humor in robotics is a promising, though not yet significantly researched topic. We performed a user study exploring two different kinds of laughter. In our study, participants observed a robot-robot interaction where an iCat and a NAO r... Read More about Robot humor: How self-irony and Schadenfreude influence people's rating of robot likability.

User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination (2016)
Conference Proceeding
Moser, C., Stollnberger, G., Christiane, M., Giuliani, M., Stadler, S., Tscheligi, M., …Stanczyk, B. (2016). User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination. . https://doi.org/10.1109/ROMAN.2016.7745254

© 2016 IEEE. We report the results of a user requirements analysis for a medical robotic system that enables doctors to remotely conduct ultrasonography and physical examination on patients. As there are three different user groups in this scenario -... Read More about User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination.

Augmented reality for industrial robot programmers: Workload analysis for task-based, augmented reality-supported robot control (2016)
Conference Proceeding
Stadler, S., Kain, K., Giuliani, M., Mirnig, N., Stollnberger, G., & Tscheligi, M. (2016). Augmented reality for industrial robot programmers: Workload analysis for task-based, augmented reality-supported robot control. . https://doi.org/10.1109/ROMAN.2016.7745108

© 2016 IEEE. Augmented reality (AR) can serve as a tool to provide helpful information in a direct way to industrial robot programmers throughout the teaching process. It seems obvious that AR support eases the programming process and increases the p... Read More about Augmented reality for industrial robot programmers: Workload analysis for task-based, augmented reality-supported robot control.

Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies (2016)
Conference Proceeding
Wysokinski, A., Szczesniak-Stanczyk, D., Cholewinski, M., Drwiega, M., Arent, K., Jakubiak, J., …Wysokiński, A. (2016). Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies. . https://doi.org/10.1109/HSI.2016.7529612

© 2016 IEEE. In this article we discuss movement control of a ReMeDi medical mobile robot from the user perspective. The control is essentially limited to the level of operator actions where the operator is a member of a nursing staff. Two working mo... Read More about Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies.

Systematic analysis of video data from different human-robot interaction studies: A categorisation of social signals during error situations (2015)
Journal Article
Giuliani, M., Mirnig, N., Stollnberger, G., Stadler, S., Buchner, R., & Tscheligi, M. (2015). Systematic analysis of video data from different human-robot interaction studies: A categorisation of social signals during error situations. Frontiers in Psychology, 6(931), https://doi.org/10.3389/fpsyg.2015.00931

Human–robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal soci... Read More about Systematic analysis of video data from different human-robot interaction studies: A categorisation of social signals during error situations.

Multi-modality gesture detection and recognition with un-supervision, randomization and discrimination (2015)
Journal Article
Wu, D., Chen, G., Clarke, D., Weikersdorfer, D., Giuliani, M., Gaschler, A., & Knoll, A. (2015). Multi-modality gesture detection and recognition with un-supervision, randomization and discrimination. Lecture Notes in Artificial Intelligence, 8925, 608-622. https://doi.org/10.1007/978-3-319-16178-5_43

© Springer International Publishing Switzerland 2015. We describe in this paper our gesture detection and recognition system for the 2014 ChaLearn Looking at People (Track 3: Gesture Recognition) organized by ChaLearn in conjunction with the ECCV 201... Read More about Multi-modality gesture detection and recognition with un-supervision, randomization and discrimination.

Ghost-in-the-Machine reveals human social signals for human-robot interaction (2015)
Journal Article
Loth, S., Jettka, K., Giuliani, M., & De Ruiter, J. P. (2015). Ghost-in-the-Machine reveals human social signals for human-robot interaction. Frontiers in Psychology, 6(NOV), https://doi.org/10.3389/fpsyg.2015.01641

© 2015 Loth, Jettka, Giuliani and de Ruiter. We used a new method called "Ghost-in-the-Machine" (GiM) to investigate social interactions with a robotic bartender taking orders for drinks and serving them. Using the GiM paradigm allowed us to identify... Read More about Ghost-in-the-Machine reveals human social signals for human-robot interaction.

An RGB-D based social behavior interpretation system for a humanoid social robot (2014)
Presentation / Conference
Zaraki, A., Giuliani, M., Dehkordi, M. B., Mazzei, D., D'ursi, A., & Rossi, D. D. (2014, October). An RGB-D based social behavior interpretation system for a humanoid social robot. Paper presented at 2nd RSI International Conference on Robotics and Mechatronics (ICRoM 2014), Tehran, Iran

We used a new method called “Ghost-in-the-Machine” (GiM) to investigate social interactions with a robotic bartender taking orders for drinks and serving them. Using the GiM paradigm allowed us to identify how human participants recognize the intenti... Read More about An RGB-D based social behavior interpretation system for a humanoid social robot.

Combining unsupervised learning and discrimination for 3D action recognition (2014)
Journal Article
Chen, G., Clarke, D., Giuliani, M., Gaschler, A., & Knoll, A. (2015). Combining unsupervised learning and discrimination for 3D action recognition. Signal Processing, 110, 67-81. https://doi.org/10.1016/j.sigpro.2014.08.024

© 2014 Elsevier B.V. Previous work on 3D action recognition has focused on using hand-designed features, either from depth videos or 2D videos. In this work, we present an effective way to combine unsupervised feature learning with discriminative fea... Read More about Combining unsupervised learning and discrimination for 3D action recognition.

Designing and evaluating a social gaze-control system for a humanoid robot (2014)
Journal Article
Zaraki, A., Mazzei, D., Giuliani, M., & De Rossi, D. (2014). Designing and evaluating a social gaze-control system for a humanoid robot. IEEE Transactions on Human-Machine Systems, 44(2), 157-168. https://doi.org/10.1109/THMS.2014.2303083

This paper describes a context-dependent social gaze-control system implemented as part of a humanoid social robot. The system enables the robot to direct its gaze at multiple humans who are interacting with each other and with the robot. The attenti... Read More about Designing and evaluating a social gaze-control system for a humanoid robot.

Action recognition using ensemble weighted multi-instance learning (2014)
Journal Article
Chen, G., Giuliani, M., Clarke, D., Gaschler, A., & Knoll, A. (2014). Action recognition using ensemble weighted multi-instance learning. IEEE International Conference on Robotics and Automation, 4520-4525. https://doi.org/10.1109/ICRA.2014.6907519

© 2014 IEEE. This paper deals with recognizing human actions in depth video data. Current state-of-the-art action recognition methods use hand-designed features, which are difficult to produce and time-consuming to extend to new modalities. In this p... Read More about Action recognition using ensemble weighted multi-instance learning.

Task-based evaluation of context-sensitive referring expressions in human–robot dialogue (2014)
Journal Article
Foster, M. E., Giuliani, M., & Isard, A. (2014). Task-based evaluation of context-sensitive referring expressions in human–robot dialogue. Language Cognition and Neuroscience, 29(8), 1018-1034. https://doi.org/10.1080/01690965.2013.855802

© 2013 Taylor & Francis. The standard referring-expression generation task involves creating stand-alone descriptions intended solely to distinguish a target object from its context. However, when an artificial system refers to objects in the cours... Read More about Task-based evaluation of context-sensitive referring expressions in human–robot dialogue.

How can I help you? Comparing engagement classification strategies for a robot bartender (2013)
Presentation / Conference
Foster, M. E., Gaschler, A., & Giuliani, M. (2013, December). How can I help you? Comparing engagement classification strategies for a robot bartender. Paper presented at 15th International Conference on Multimodal Interfaces (ICMI 2013), Sydney, Australia

A robot agent existing in the physical world must be able to understand the social states of the human users it interacts with in order to respond appropriately. We compared two implemented methods for estimating the engagement state of customers for... Read More about How can I help you? Comparing engagement classification strategies for a robot bartender.

Unsupervised learning spatio-temporal features for human activity recognition from RGB-D video data (2013)
Journal Article
Chen, G., Zhang, F., Giuliani, M., Buckl, C., & Knoll, A. (2013). Unsupervised learning spatio-temporal features for human activity recognition from RGB-D video data. Lecture Notes in Artificial Intelligence, 8239 LNAI, 341-350. https://doi.org/10.1007/978-3-319-02675-6_34

Being able to recognize human activities is essential for several applications, including social robotics. The recently developed commodity depth sensors open up newpossibilities of dealingwith this problem. Existing techniques extract hand-tuned fea... Read More about Unsupervised learning spatio-temporal features for human activity recognition from RGB-D video data.

Using Embodied Multimodal Fusion to Perform Supportive and Instructive Robot Roles in Human-Robot Interaction (2013)
Journal Article
Giuliani, M., & Knoll, A. (2013). Using Embodied Multimodal Fusion to Perform Supportive and Instructive Robot Roles in Human-Robot Interaction. International Journal of Social Robotics, 5(3), 345-356. https://doi.org/10.1007/s12369-013-0194-y

We present a robot that is working with humans on a common construction task. In this kind of interaction, it is important that the robot can perform different roles in order to realise an efficient collaboration. For this, we introduce embodied mult... Read More about Using Embodied Multimodal Fusion to Perform Supportive and Instructive Robot Roles in Human-Robot Interaction.

Two people walk into a bar: Dynamic multi-party social interaction with a robot agent (2012)
Presentation / Conference
Foster, M. E., Gaschler, A., Giuliani, M., Isard, A., Pateraki, M., & Petrick, R. P. A. (2012, October). Two people walk into a bar: Dynamic multi-party social interaction with a robot agent. Paper presented at 14th ACM International Conference on Multimodal Interaction (ICMI 2012), California, USA

We introduce a humanoid robot bartender that is capable of dealing with multiple customers in a dynamic, multi-party social setting. The robot system incorporates state-of-the-art components for computer vision, linguistic processing, state managemen... Read More about Two people walk into a bar: Dynamic multi-party social interaction with a robot agent.

Modelling state of interaction from head poses for social human-robot interaction (2012)
Presentation / Conference
Gaschler, A., Huth, K., Giuliani, M., Kessler, I., de Ruiter, J., & Knoll, A. (2012, March). Modelling state of interaction from head poses for social human-robot interaction. Paper presented at Gaze in Human-Robot Interaction Workshop held at the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), Boston, MA, USA

In this publication, we analyse how humans use head pose in various states of an interaction, in both human-human and human-robot observations. Our scenario is the short-term, every-day interaction of a customer ordering a drink from a bartender. To... Read More about Modelling state of interaction from head poses for social human-robot interaction.

Design principles for safety in human-robot interaction (2010)
Journal Article
Giuliani, M., Lenz, C., Müller, T., Rickert, M., & Knoll, A. (2010). Design principles for safety in human-robot interaction. International Journal of Social Robotics, 2(3), 253-274. https://doi.org/10.1007/s12369-010-0052-0

The interaction of humans and robots has the potential to set new grounds in industrial applications as well as in service robotics because it combines the strengths of humans, such as flexibility and adaptability, and the strengths of robots, such a... Read More about Design principles for safety in human-robot interaction.

Comparing objective and subjective measures of usability in a human-robot dialogue system (2009)
Presentation / Conference
Foster, M. E., Giuliani, M., & Knoll, A. (2009, August). Comparing objective and subjective measures of usability in a human-robot dialogue system. Paper presented at Proceedings of the 47th Annual Meeting of the Association for Computational Linguistics and the 4th International Joint Conference on Natural Language Processing of the Asian Federation of Natural Language Processing (ACL-IJCNLP 2009), Suntec, Singapore

We present a human-robot dialogue system that enables a robot to work together with a human user to build wooden construction toys. We then describe a study in which na¨ıve subjects interacted with this system under a range of conditions and then com... Read More about Comparing objective and subjective measures of usability in a human-robot dialogue system.

Combining goal inference and natural-language dialogue for human-robot joint action (2008)
Presentation / Conference
Foster, M. E., Giuliani, M., Müller, T., Knoll, A., Erlhagen, W., Bicho, E., …Louro, L. (2008, July). Combining goal inference and natural-language dialogue for human-robot joint action. Paper presented at International Workshop on Combinations of Intelligent Methods and Applications, European Conference on Artificial Intelligence, Patras, Greece

We demonstrate how combining the reasoning components from two existing systems designed for human-robot joint action produces an integrated system with greater capabilities than either of the individual systems. One of the systems supports primaril... Read More about Combining goal inference and natural-language dialogue for human-robot joint action.

Evaluating description and reference strategies in a cooperative human-robot dialogue system
Presentation / Conference
Foster, M. E., Giuliani, M., Isard, A., Matheson, C., Oberlander, J., & Knoll, A. Evaluating description and reference strategies in a cooperative human-robot dialogue system. Paper presented at Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09), 11-17 July 2009

We present a human-robot dialogue system that enables a robot to work together with a human user to build wooden construction toys. We then describe a study which assessed the responses of na¨ıve users to output that varied along two dimensions: the... Read More about Evaluating description and reference strategies in a cooperative human-robot dialogue system.