{"id":"https://openalex.org/W2118833203","doi":"https://doi.org/10.1109/ichr.2010.5686337","title":"A multi-modal architecture for human robot communication","display_name":"A multi-modal architecture for human robot communication","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2118833203","doi":"https://doi.org/10.1109/ichr.2010.5686337","mag":"2118833203"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074570233","display_name":"A. Arumbakkam","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]},{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP","US"],"is_corresponding":true,"raw_author_name":"Arjun K. Arumbakkam","raw_affiliation_strings":["Honda Research Institute USA, Inc., Mountain View, CA, USA","Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113669617","display_name":"Taizo Yoshikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]},{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Taizo Yoshikawa","raw_affiliation_strings":["Honda Research Institute USA, Inc., Mountain View, CA, USA","Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031340269","display_name":"Behzad Dariush","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]},{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Behzad Dariush","raw_affiliation_strings":["Honda Research Institute USA, Inc., Mountain View, CA, USA","Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112249344","display_name":"Kikuo Fujimura","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]},{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Kikuo Fujimura","raw_affiliation_strings":["Honda Research Institute USA, Inc., Mountain View, CA, USA","Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA 94043, U.S.A","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074570233"],"corresponding_institution_ids":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"],"apc_list":null,"apc_paid":null,"fwci":0.7226,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78537368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"22","issue":null,"first_page":"639","last_page":"646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6600764989852905},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6415739059448242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5431408882141113},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5282313823699951},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32268625497817993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2768530249595642},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06866264343261719},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.05454358458518982}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6600764989852905},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6415739059448242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5431408882141113},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5282313823699951},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32268625497817993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2768530249595642},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06866264343261719},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.05454358458518982},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2010.5686337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W15751264","https://openalex.org/W1962965017","https://openalex.org/W1981297107","https://openalex.org/W1988183163","https://openalex.org/W1990654347","https://openalex.org/W2015016121","https://openalex.org/W2017913224","https://openalex.org/W2028991393","https://openalex.org/W2033208083","https://openalex.org/W2054552525","https://openalex.org/W2068154600","https://openalex.org/W2097944344","https://openalex.org/W2104484606","https://openalex.org/W2112004502","https://openalex.org/W2117665591","https://openalex.org/W2119403459","https://openalex.org/W2123950369","https://openalex.org/W2137267908","https://openalex.org/W2141098361","https://openalex.org/W2144619676","https://openalex.org/W2148112459","https://openalex.org/W2150913887","https://openalex.org/W2154777391","https://openalex.org/W2157090871","https://openalex.org/W2474718355","https://openalex.org/W4214813851","https://openalex.org/W4251500555","https://openalex.org/W4285719527","https://openalex.org/W6600656932","https://openalex.org/W6675523434","https://openalex.org/W6677600974"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"In":[0],"this":[1,35,193],"paper":[2,36],"we":[3],"present":[4],"a":[5,25,38,75,85,108,125,172,179],"human-friendly":[6],"control":[7,42,48,118,176],"framework":[8,177,194],"and":[9,41,56,66,105,139,161,187,200,217],"an":[10],"associated":[11],"system":[12,39,197],"architecture":[13,40,113],"for":[14],"performing":[15],"compliant":[16,47,175,186],"trajectory":[17],"tracking":[18,190],"of":[19,34,49,63,77,101,146],"multimodal":[20],"human":[21,54,60,70,94,120],"gesture":[22],"information":[23],"on":[24,212],"position":[26,182],"controlled":[27],"humanoid":[28,50,148,215],"robot":[29,149,216],"in":[30,150],"realtime.":[31],"The":[32,59,69,93,112,152,185],"contribution":[33],"includes":[37],"methodology":[43],"that":[44,167],"enables":[45,115],"real-time":[46],"robots":[51],"from":[52,132],"demonstrated":[53],"motion":[55,61,80,117,154,166],"speech":[57,121,127],"inputs.":[58],"consists":[62],"the":[64,133,142,147,157,163,196,207,213,218],"body":[65,71],"head":[67,95],"pose.":[68],"motion,":[72],"represented":[73,97],"by":[74,98,124,171,192],"set":[76],"Cartesian":[78],"space":[79,144],"descriptors,":[81],"is":[82,103,168],"captured":[83],"using":[84,107],"single":[86,109],"depth":[87],"camera":[88],"marker-less":[89],"vision":[90],"processing":[91,128],"module.":[92],"pose,":[96],"two":[99],"degrees":[100],"freedom,":[102],"estimated":[104],"tracked":[106],"CCD":[110],"camera.":[111],"also":[114],"fine":[116],"through":[119,178],"commands":[122],"processed":[123],"dedicated":[126],"system.":[129,184],"Motion":[130],"description":[131],"three":[134],"input":[135],"modes":[136],"are":[137,220],"synchronized":[138],"retargeted":[140,153],"to":[141,156,181,203],"joint":[143,165],"coordinates":[145],"real-time.":[151],"adheres":[155],"robot's":[158],"kinematic":[159],"constraints":[160],"represents":[162],"reference":[164],"subsequently":[169],"executed":[170],"model":[173],"based":[174],"torque":[180],"transformation":[183],"low":[188],"gain":[189],"performed":[191,211],"renders":[195],"physically":[198],"safe":[199],"therefore":[201],"friendly":[202],"humans":[204],"interacting":[205],"with":[206],"robot.":[208],"Experiments":[209],"were":[210],"Honda":[214],"results":[219],"presented":[221],"here.":[222]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}