機器人組
Intelligent Robot Group

我們的目標在於讓機器人能夠在真實環境中提供各式各樣的服務,並且改進人和機器人之間的互動。自從在軟體和硬體的改進後,機器人
領域已經獲得廣泛的注意,因此本組想要將機器人研究更進一步,使得機器人能夠更加聰明以處理現實環境中的問題,為了能夠在可見的
未來使機器人能有效的被應用,機器人必定必須和人群互動。所以我們的研究也是專注在人機互動以及人工智慧上,使機器人能夠了解人
們的意圖並推論適當的反應。
Our goal is to make robots capable of providing services in the real environment and improving interactions between robots and
human. The mobile robot research has gained lots of attention since the breakthrough both on algorithms and hardware. Therefore,
we want to push it further, and make robots more intelligent to deal with the real world problems. In order to introduce robots to
the near future, the robots must have the ability to interact with people. As a result, our research also focused on H.R.I. and AI,
so the robot could understand the human intentions and infer the proper reactions.
目前本組大致有以下研究方向:
1. 機器人視覺 – 我們可以從影像獲得豐富的資訊,因此機器人組致力於發展機器人視覺系統。
A. 物體辨識 B. 姿態變識、人類辨識、臉部辨識 C. 視覺式SLAM
2. 移動機器人系統 – 我們與電機系傅立成老師的尖端控制實驗室合作
A. 控制系統:機器人導航、行為控制、路徑規劃 B. 定位
3. 人機互動
A. 知識庫推理 B. 強化學習
Currently, our group has following reserach direction:
1. Robot Vision – Our group have been focused on robot vision system because we can get rich information from cameras.
A. Object Recognition B. Tracking / Gesture Recognition / Human Detection / Face Recognition C. Visual SLAM
2. Mobile Robot System – We cooperate with Advanced Control Lab of EE department ( Also Prof. Fu’s Lab ).
A. Control System : Robot Navigation / Behavior Control / Path Planning B. Mapping and Localization
3. Human Robot Interaction
A. Knowledge Base Reasoning B. Reinforcement Learning

Research

Adaptive Recommendation Dialogue System through Pragmatic
Argumentation

Adaptive Recommendation Dialogue System through Pragmatic
Argumentation

In an aging society, we expect that a robotic caregiver is able to persuade an elderly person to perform a healthier behavior. In this work, pragmatic argument is adopted to make a user realize that an action is really worthwhile. Therefore, an adaptive recommendation dialogue system through pragmatic argumentation is proposed.
There are three objectives in this work: first, we build a knowledge base for pragmatic argument construction, and the knowledge base concerns not only the effect of an action but also the reason for the effect; second, the robot is endowed with the ability to recommend an action that adopts to different users, and the recommended action is determined based on the integration of both robot’s and user’s value systems. In other words, the robot knows how to compromise with the user; third, the robot will persuade the user through his/her value system, and it will try to select the perspective whereby the user can be more interested in the action recommended by the robot.

Interactive Question-Posing System for Reminiscing about
Personal Photos

Interactive Question-Posing System for Reminiscing about Personal Photos

Reminiscence is a lifelong activity that happens throughout our lifespan. While memories can serve as the topics in people’s chit-chat, recalling the past can also help people to build self-esteem and increase the level if happiness. In our work, we apply deep learning techniques to recognize events, objects, and scenes in the image to understand the content in the photo. Then, we use Markov random field to consider the observations from the photo and the user utterance. Afterwards, we utilize the loopy belief propagation to infer possible associated concepts and topics. Finally, we give appropriate questions about the selected topics to RoBoHoN.
The result show that the proposed system can pose proper and related question to interact with the user, and has a potential to help and guide the user to recall the past in an organized way.

Context-aware Topic Proposal in Phatic Communion for Interaction Initiation of a Robot Companion

Context-aware Topic Proposal in Phatic Communion for Interaction Initiation of a Robot Companion

Recently, robot companions have become more and more popular; they are expected to provide not only physical assistance, but also social supports for human. In order to provide social connections and improve user experience, the capability to actively initiate an interaction in a natural way is important. When people try to engage with others, they often start from topics that are related to the context. In this work, we aim to develop a context-aware robot that initiate a non-task-oriented interaction with similar strategy. We focus on how a robot could interpret its environment as semantic concepts and then generate a proper topic proposal to start an interaction. With the help of object detection components developed in computer vision field, it can detect semantic entities in the environment, and combine such detection results using the commonsense knowledge to establish a context model based on hinge-loss Markov random field. Afterwards, according to the scores of each concept in the context model and the social relation with the user, the robot generates a sentence to initiate the interaction with the user. In the end, an experiment has been conducted to examine the effectiveness of the context-aware topics.

Members

TitleNameDurationEmail
博士研究生 Ph.D. student陳彥后 Ian Chen(2015-)b91611014@gmail.com
碩士研究生 M.S. student郭行之 Jacky Guo(2015-)guoxingzhi@gmail.com
碩士研究生 M.S. student楊竣棠 Jiun-Tang Yang(2015-)​johnny87901@gmail.com
碩士研究生 M.S. student吳秉蒼 Ping-Tsang Wu(2016-)alanwu6fssh@gmail.com
碩士研究生 M.S. student吳宗澤 Zong-Ze Wu(2016-)​r05921012@ntu.edu.tw
碩士研究生 M.S. studentCesar Molano(2016-)renokx@gmail.com
碩士研究生 M.S. studentVicente Queiroz(2016-)vicentetqueiroz@gmail.com
碩士研究生 M.S. student楊喬宇 Joey Yang(2017-)bxj840124@gmail.com
碩士研究生 M.S. student黃宇謙 Yu-Cian Huang(2017-)r06922072@ntu.edu.tw
碩士研究生 M.S. student蕭羽庭 Yu-Ting Hsiao(2017-)xiaoyuting0819@gmail.com
碩士研究生 M.S. student朱啟維 Chi-Wei Chu(2017-)r06921013@ntu.edu.tw
碩士研究生 M.S. student詹少宏 Shao-Hung Chan(2017-)shaohung1113@gmail.com
博士後研究生 Postdoc曾士桓 Shih-Huan Tseng(2007-2016)shihhuan.tseng@gmail.com
畢業學生吳宜倫 Yi-Luen Wu(2015-2017)
畢業學生張瑞紘 Ray Chang(2015-2017)
畢業學生趙姸 Yen Chao(2014-2016)
畢業學生林敬 Ching Lin(2014-2016)
畢業學生鄭靖螢 Cheng-Ying Zheng(2013-2015)
畢業學生吳東諺 Tung-Yen Wu(2013-2015)
畢業學生朱庭升 Tin-Sheng Chu(2012-2014)
畢業學生蔣亦修 Yi-Shiu Jiang(2012-2014)
畢業學生林仲達 Chung-Dial Lin(2012-2014)
畢業學生廖建科 Chien-ke Liao(2011-2013)
畢業學生許元翰 Yuan-Han Xui(2011-2013)
畢業學生俞冠廷 Guan-Ting Yu(2010-2012)
畢業學生牟偉豪 Wei-Hao Mou(2010-2012)
畢業學生黃國禎 Guo-Zhen Huang(2009-2011)
畢業學生楊典修 Tien-Hsiu Yang(2008-2010)
畢業學生余嘉淵 Jia-Yuan Yu(2008-2010)
畢業學生郭維禎 Wei-Zhen Kuo(2007-2009)
畢業學生彭禹安 Yu-An Peng
畢業學生袁維均 Wei-Jun Yuan

Journal Paper

Title
Shih-Huan Tseng, Yen Chao, Ching Lin, Li-Chen Fu. “Service robots: System design for tracking people through data fusion and initiating interaction with the human group by inferring social situations”, Robotics and Autonomous Systems, 2016.
Chung Dial Lim, Chia-Ming Wang, Ching-Ying Cheng, Yen Chao, Shih-Huan Tseng, Li-Chen Fu. “Sensory Cues Guided Rehabilitation Robotic Walker Realized by Depth Image-Based Gait Analysis”, IEEE Transactions on Automation Science and Engineering, 13(1), 171-180, 2016.
Chi-Pang Lam, Chen-Tun Chou, Kuo-Hung Chiang, and Li-Chen Fu.「Human-Centered Robot Navigation—Towards a Harmoniously Human–Robot Coexisting Environment,」Robotics, IEEE Transactions on Robotics (TRO) 2011
M.C. Shiu, L.C. Fu, H.T. Lee, F.L. Lian "Modular Design of Reconfigurable Electromagnetic Robots". Advanced Robotics, No. 7, Vol. 24, pp. 1059-1078, 2010
Chih-Fu Chang and Li-Chen Fu. "Control Framework of A Multi-Agent System with Hybrid Approach". Journal of Chinese Engineering, 2006.
Chih-Fu Chang, Jane Hsu and Li-Chen Fu. "Dynamic Game Based Hybrid Multi-Agent Control". International Journal of Electric Business Management, 2006.

Conference Paper

Title
Chiao-Yu Yang, Ming-Jen Lu, Shih-Huan Tseng, Li-Chen Fu, "A Companion Robot for Daily Care of Elders based on Homeostasis", the Society of Instrument and Control Engineers (SICE), Japan, 2017.
Ching Lin, Rui-Hong Zhang, Shih-Huan Tseng, Li-Chen Fu, "A Homeostasis Based Decision Making System on Human-Aware Autonomous Service Robot", International conference on Advanced Robotics and Intelligent Systems (ARIS), Taiwan, 2017.
Ching-Ying Cheng, Xiaobei Qian, Shih-Huan Tseng, Li-Chen Fu, “Recommendation Dialogue System through Pragmatic Argumentation.”, IEEE International Symposium on Robot and Human Interactive Communication (ROMAN), Portugal, 2017.
"Human Gait Reconstruction and Analysis from Frontal View of Partial Lower Limbs on Assistive Robotic Walker" Chia-Ming Wang,Chung Dial Lim,Ting-Sheng Chu,Yi-Shiu Chiang and Li-Chen Fu IEEE Workshop on International Symposium on Robot and Human Interactive Communication, 2014
"Active Learning on Service Providing Model: Adjustment of Robot Behaviors through Human Feedback" Shih-Huan Tseng, Feng-Chih Lu and Li-Chen Fu IEEE Workshop on International Symposium on Robot and Human Interactive Communication, 2014
"Multi-Human Spatial Social Pattern Understanding for a Multi-Modal Robot through Nonverbal Social Signals" Shih-Huan Tseng, Yuan-Han Hsu, Yi-Shiu Chiang, Tung-Yen Wu and Li-Chen Fu IEEE International Symposium on Robot and Human Interactive Communication, 2014
"Vision based Gait Analysis on Robotic Walking Stabilization System for Patients with Parkinson's Disease" Chien-Ke Liao, Chung Dial Lim, Ching-Ying Cheng, Cheng-Ming Huang and Li-Chen Fu IEEE International Conference on Automation Science and Engineering, 2014
"Human-Robot Interaction with Multi-Human Social Pattern Inference on a Multi-Modal Robot" Shih-Huan Tseng , Tung-Yen Wu , Ching-Ying Cheng and Li-Chen Fu International Conference on Control, Automation and Systems, 2014
"Grasping Unknown Objects Using Depth Gradient Feature With Eye-in-hand RGB-D Sensor" Yu-Chi Lin, Shao-Ting Wei and Li-Chen Fu IEEE International Conference on Automation Science and Engineering, 2014
"Perceiving Intimacy from Both Robot View and First-Person View in Dyadic Human Interaction" Ting-Sheng Chu, Yi-Shiu Chiang, Chung Dial Lim, Tung-Yen Wu, Shih-Huan Tseng and Li-Chen Fu IEEE Workshop on Advanced Robotics and its Social Impacts, 2014
"Personalizing Robot Behavior for Interruption in Social Human-Robot Interaction" Yi-Shiu Chiang, Ting-sheng Chu, Chung Dial Lim, Tung-Yen Wu, Shih-Huan Tseng and Li-Chen Fu IEEE Workshop on Advanced Robotics and its Social Impacts, 2014
Yu, Kuan-Ting, Shih-Huan Tseng, and Li-Chen Fu."Learning Hierarchical Representation with Sparsity for RGB-D Object Recognition" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Wei-Hao Mou, Ming-Fang Chang, Chien-Ke Liao, Yuan-Han Hsu, Shih-Huan Tseng, and Li-Chen Fu. "Context-Aware Assisted Interactive Robotic Walker for Parkinson’s Disease Patients" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Kai Siang Ong, Yuan-Han Hsu,and Li-Chen Fu."Sensor Fusion Based Human Detection and Tracking System for Human-Robot Interaction"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Ju-Hsuan Hua, Shih-Huan Tseng, Shao-Po Ma, Jie Fu, Li-Chen Fu,"Decision-Networks based Attentive HRI by Reasoning Human Intention and Preferences" The 43rd Intl. Symp. on Robotics (ISR2012),Taipei, Taiwan, Aug. 29-31, 2012
Kuo-Chen Huang; Shih-Huan Tseng; Wei-Hao Mou; Li-Chen Fu;"Simultaneous localization and scene reconstruction with monocular camera" Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.2102-2107, 14-18 May 2012.
Shih-Huan Tseng et al."Intelligent interactive robot in an office environment"Proceedings of 2011 International Conference on Service and Interactive Robots.
Chen Tun Chou, Jiun-Yi Li, Ming-Fang Chang, and Li Chen Fu."Multi-robot Cooperation Based Human Tracking System Using Laser Range Finder" IEEE International Conference on Robotics and Automation, 2011( ICRA 2011).
Chi-Pang Lam, Chen-Tun Chou, Kuo-Hung Chiang, and Li-Chen Fu. "Human-Centered Robot Navigation—Towards a Harmoniously Human–Robot Coexisting Environment" Robotics, IEEE Transactions on Robotics (TRO) 2010 International Conference.
Cheng-Kai Lin, Li-Chen Fu, Tian-Hua Liu. "Design and Implementation of Nonlinear Speed Controller with Adaptive Backstepping Sliding Mode Control Technique for an IPMSM Drive System" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21, 2010.
Kuo-Chen Huang, Jiun-Yi Li, Li-Chen Fu. "Human-Oriented Navigation for Service Providing in Home Environment" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21,2010.
Jen-Te Yu, Cheng-Kai Lin, Li-Chen Fu, Tian-Hua Liu. "Adaptive Backstepping Servo Control for IPMSM Drive Systems with MTPA - An Implicit and Symbolic Computation Approach" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21, 2010.
Kuan-Ting Yu, Chi-Pang Lam, Ming-Fang Chang, Wei-Hao Mou, Shi-Huan Tseng, and Li-Chen Fu. "An Interactive Robotic Walker for Assisting Elderly Mobility in Senior Care Unit", in Proceedings of the IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO 2010), Seoul, Korea, October 2010.
Jia-Yuan Yu, Shih-Huan Tseng, Kuo-Chen Huang, Li-Chen Fu, and Hsiang-Wen Hsieh. "Hierarchical Vision-based Localization using Conspicuous Objects for Robots in Home Environments", Computer Vision, Graphics, and Image Processing, 2010.
Wei-Jen Kuo, Shih-Huan Tseng, Jia-Yuan Yu, and Li-Chen Fu. "A Hybrid Approach to RBPF Based SLAM with Grid Mapping Enhanced by Line Matching", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
Kuo-Hung Chiang, Chi-Pang Lam, Wei-Jen Kuo, Chen-Tun Chou, Jia-Yuan Yu, Tien-Hsiu Yang, Shih-Huan Tseng and Li-Chen Fu. "Attentive Entertainment Robot in a Smart Home Environment", International Conference on Automation Technology, 2009.
Yu-An Peng, Shih-Huan Tseng, Jia-Yuan Yu, Li-Chen Fu, and Shyh-Roei Wang. "Vision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map", Workshop on Image Processing, Computer Graphics, and Multimedia Technologies, National Computer Symposium, 2009.

Master Thesis

Title
Yu, Kuan-Ting.「Human-Context Mapping for Human-Centric Robot Service in Office Environment」,Master Thesis, 2012.
Wei-Hao Mou.「Context-Aware Interactive Walking-Aid Robotic Walker」,Master Thesis, 2012
Kuo-Chen Huang. 「Simultaneous Localization and Scene Reconstruction with Monocular Camera」,Master Thesis, 2011. Jia-Yuan Yu. 「A Flexible Feature Selection Strategy for Improving Bearing-only SLAM」, Master Thesis, 2010.
Wei-Jen Kuo. 「FG-SLAM: A Hybrid Approach to Grid Based Mapping Enhanced by Geometric Features」, Master Thesis, 2009.
Peng Yu-An. 「Vision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map」, Master Thesis, 2008