2022/01/28 更新

写真a

トロヴァト ガブリエレ
トロヴァト ガブリエレ
所属
国際学術院 国際教養学部
職名
講師(任期付)

学歴

  • 2011年05月
    -
    2014年03月

    Waseda University   Ph.D. degree in Bio-robotics  

  • 2014年
     
     

    Imperial College London   Visiting researcher  

  • 2014年
     
     

    R. Archer IT Center (CTI)   Visiting researcher  

  • 2013年
     
     

    Eindhoven University of Technology   Visiting researcher  

  • 2013年
     
     

    Carnegie Mellon University (CMU)   Visiting researcher  

  • 2012年
    -
    2013年

    Karlsruhe Institute of Technology   Visiting researcher  

  • 2012年
     
     

    Egypt-Japan University of Science and Technology (E-JUST)   Visiting researcher  

  • 2000年
    -
    2008年

    University of Pisa   Master’s Degree in Computer Science Engineering  

▼全件表示

経歴

  • 2017年09月
    -
    継続中

    Waseda University   SILS   Assistant Professor

  • 2017年04月
    -
    2017年08月

    Pontificia Universidad Catolica del Peru   Visiting Professor

  • 2017年01月
    -
    2017年03月

    Innopolis University   Visiting Professor

  • 2014年12月
    -
    2016年11月

    Waseda University   JSPS Postdoctoral Fellow

  • 2014年
     
     

    Waseda University   Research Associate

  • 2011年
    -
    2013年

    Waseda University   Research Assistant

  • 2009年
     
     

    R. Foresi Secondary School   Teacher

  • 2005年
    -
    2008年

    Firaxis Games   Official scenario designer

▼全件表示

所属学協会

  •  
     
     

    European AI Alliance

  •  
     
     

    IEEE

 

研究分野

  • 知能ロボティクス

研究キーワード

  • Social robotics

  • Human-robot interaction

  • Procedural Content Generation

  • Machine learning

論文

  • The Italy-Japan Workshop: A History of Bilateral Cooperation, Pushing the Boundaries of Robotics

    Gabriele Trovato, Leonardo Ricotti, Cecilia Laschi, Massimiliano Zecca, Sarah Cosentino, Luca Bartolomeo, Shuji Hashimoto, Atsuo Takanishi, Paolo Dario

    IEEE Robotics and Automation Magazine    2021年

    DOI

  • Pioneering Religion in Robotics: An Historical Perspective

    Gabriele Trovato

    Frontiers in Artificial Intelligence and Applications   335   592 - 595  2020年12月

     概要を見る

    Religion and science are typically seen as far apart worlds. As a matter of fact, this is not true, as religion also has evolved thanks to new technologies, and robots in particular are objects that have been related to the sacred since ancient times. Recently, new interest is growing worldwide on this topic: However, even new creation of robots for the religious domain have to face the attitude of users of different cultures, which trace back to the mindset present in the background religions, and their concept of human.

    DOI

  • Communicating with SanTO – the first Catholic robot

    トロヴァト ガブリエレ

    The 28th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2019)    2019年10月  [査読有り]

    DOI

  • Design and Development of a Security and Guidance Robot for Employment in a Mall

    Gabriele Trovato, Alexander Lopez, Renato Paredes, Diego Quiroz, Francisco Cuellar

    International Journal of Humanoid Robotics   16 ( 5 ) 1950027  2019年10月  [査読有り]

     概要を見る

    Among the possible fields in human society in which robotics can be applied, the possibility of a robotic guard has been imagined since long time. Human guards usually perform a range of tasks in which a robot can provide help. Security personnel not only perform security tasks and patrolling services, but also have to interact with people, providing additional information about the area they safeguard. In this paper, we present the design, development and preliminary tests of RobotMan, an anthropomorphic robot commissioned by a security company that should serve in security roles, such as patrolling large indoor areas and acting as a telepresence platform for the human guards, and guidance roles such as welcoming visitors and providing information. In the preliminary experiment, the new robot and a human guard were employed the roles of security and guidance in a manufacturing center. The results of the experiment collected from 96 participants highlighted differences in participants' behavior when interacting with the robot rather than the human and a different perception of likeability and authority of the robot depending on subtle differences in its appearance and behavior. These results provide useful indication for the employment of robot guards in a real world situation.

    DOI

  • The creation of DarumaTo: A social companion robot for buddhist/shinto elderlies

    Gabriele Trovato, Tatsuhiro Kishi, Mao Kawai, Tingting Zhong, Jia Yeu Lin, Zixi Gu, Chiaki Oshiyama, Atsuo Takanishi

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2019-July   606 - 611  2019年07月  [査読有り]

     概要を見る

    A growing need of socially assistive devices is now present in several countries affected by ageing societies. Robotics offers a solution to this problem, however the introduction of such devices is proving to be challenging because of users' acceptance. The cultural factor, blended with the background religion, may be critical in obtaining a positive impression. In order to achieve this goal, we introduce the use of skeuomorphism into robotics and present one first application: the development of DarumaTO social robot. DarumaTO is inspired to the traditional Buddhist and Shinto doll called Daruma, and it has has 2 degrees of freedom. It can communicate through visual tracking, voice and facial expression. The design results into a device that has a familiar appearance to a Buddhist or Shinto elderly person.

    DOI

  • Expressive humanoid robot for automatic accompaniment

    Guangyu Xia, Mao Kawai, Kei Matsuki, Mutian Fu, Sarah Cosentino, Gabriele Trovato, Roger Dannenberg, Salvatore Sessa, Atsuo Takanishi

    SMC 2016 - 13th Sound and Music Computing Conference, Proceedings     506 - 511  2019年

     概要を見る

    We present a music-robotic system capable of performing an accompaniment for a musician and reacting to human performance with gestural and facial expression in real time. This work can be seen as a marriage between social robotics and computer accompaniment systems in order to create more musical, interactive, and engaging performances between humans and machines. We also conduct subjective evaluations on audiences to validate the joint effects of robot expression and automatic accompaniment. Our results show that robot embodiment and expression improve the subjective ratings on automatic accompaniment significantly. Counterintuitively, such improvement does not exist when the machine is performing a fixed sequence and the human musician simply follows the machine. As far as we know, this is the first interactive music performance between a human musician and a humanoid music robot with systematic subjective evaluation.

  • Erratum: A receptionist robot for brazilian people: Study on interaction involving illiterates (Paladyn, Journal of Behavioral Robotics (2017) 8:1 (1-17) DOI: 10.1515/pjbr-2017-0001)

    Gabriele Trovato, Josue G. Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Reid Simmons, Hiroyuki Ishii, Atsuo Takanishi

    Paladyn   10 ( 1 ) 436 - 437  2019年01月

     概要を見る

    Following a request by a colleague,wewould like to report the revised results below. These corrections also contain more detailed data, in their proper APA notation, and do not substantively change the results and the discussion. In Section 3.3 (“Results”) of the original article one could read: 1. “being human does not seem to be significantly preferred to machine (p = 0.35 according to Mann- Whitney U-test, and p = 0.45 according to the Chisquared goodness of fit test, confirming the null hypothesis of equal distribution).” which should be replaced by: “being human does not seem to be significantly preferred to machine (X2(1, N = 48) = 0.45, p = 0.502 according to the Chi-square goodness of fit test, confirming the null hypothesis of equal distribution).“ 2. “No significant preference is either found in the category Voice (p = 0.11) through Kruskal-Wallis test, just that high pitch voice is less preferred (p = 0.03) through Chi-squared.” which should be replaced by: “No significant preference is either found in the category Voice (3x2 contingency table Chi-square analysis: X2(2, N = 48) = 1.94, p = 0.38), just that high pitch voice is less preferred (4x2 contingency table Chi-square analysis: X2(3, N = 48) = 11.84, p = 0.008).” 3. “In the category Behaviour, Polite is significantly higher than all the other characteristics (p < 0.001). On the other hand, no preference is found for Direct answer against Detailed neither through Mann-Whitney (p = 0.29) or Chi-squared (p = 0.27)).” which should be replaced by: “In the category Behaviour, Polite is significantly higher than all the other characteristics (X2(3, N = 48) = 59.69, p < 0.0001). On the other hand, no preference is found for Direct answer against Detailed (X2(1, N = 48) = 1.21, p = 0.271).” In Section 4.3.1 (“Semantic scales”) of the original article one can read: 1. “Gathered data were analysed using the Kruskal- Wallis test [43] in case of multiple groups of data and Mann-Whitney U-test [44] in case of two groups of data.” which should be replaced by: “Gathered datawere analysed usingWilcoxon test [43] or Mann-Whitney U-test [44].” 2. “Differential semantic scales were validated calculating Cronbach’s alpha, a coefficient of internal consistency used to estimate the reliability of a psychometric test. Results were: 0.848 for Anthropomorpism; 0.904 for Animacy; 0.835 for Likeability; 0.883 for Perceived intelligence and 0.854 for Familiarity. We conclude that all scales are consistent.” which should be replaced by: “Differential semantic scales were validated calculating Cronbach’s alpha, a coefficient of internal consistency used to estimate the reliability of a psychometric test. Results were, respectively for Ana and Kobiana: 0.82 and 0.85 for Anthropomorphism; 0.89 and 0.92 for Animacy; 0.86 and 0.81 for Likeability; 0.87 and 0.91 Familiarity. We conclude that all scales are consistent.” 3. “Comparing Ana with Kobiana, significant differences are found for Group EV in categories Anthropomorphism (p = 0.003); Likeability (p = 0.021); Familiarity (p = 0.002); Good as receptionist (p = 0.001); and Appropriate voice (p = 0.005), all in favour of Ana. Conversely, for Group CL only category Anthropomorphism is significant (p < 0.0001).” which should be replaced by: “Comparing Ana with Kobiana withWilcoxon test, significant differences are found for Group EV in categories Anthropomorphism (Z = 2.59, p = 0.01); Likeability (p = 0.021); Animacy (Z = 2.01, p = 0.044); Likeability (Z = 2.98, p = 0.003); Familiarity (Z = 4.05, p < 0.001); Good as receptionist (Z = 2.76, p = 0.006); and Appropriate voice (Z = 3.09, p = 0.002), all in favour of Ana. Conversely, for Group CL only category Anthropomorphism is significant (p < 0.0001).” 4. “Apparently, Group CL perceived significantly higher than EV the categories Likeability, Perceived intelligence, Familiarity and Good as receptionist for both robots (p < 0.001 in all cases). Instead, Anthropomorphismwas a different case, as Kobiana was judged significantly (p < 0.001) less anthropomorphic by Group CL compared to group EV.” which should be replaced by: “Apparently, Group CL perceived significantly higher than EV the categories Likeability, Perceived intelligence, Familiarity and Good as receptionist for both robots. Through Mann-Whitney test for Ana: Likeability: U = 82.5, p < 0.0001; Perceived intelligence: U = 176.5, p = 0.0004; Familiarity: U = 133.5, p < 0.0001. For Kobiana: Likeability: U = 81, p < 0.0001; Perceived intelligence: U = 90, p < 0.0001; Familiarity: U = 98, p < 0.0001. Instead, Anthropomorphismwas a different case, as Kobiana was judged significantly (U = 40, p < 0.0001) less anthropomorphic by Group CL compared to group EV.” In Section 4.3.3 (“Voice”) of the original article one can read: 1. “Human voice was rated significantly higher (p < 0.001) than the robotic one. However, it was judged less appropriate for the appearance of Kobiana (p = 0.03), while appropriate for Ana (p = 0.001).” “Human voice was rated significantly higher (Ana: U = 98.5, p = 0.004; Kobiana: U = 124, p = 0.031) than the robotic one. However, it was judged less appropriate for the appearance of Kobiana (U = 117.5, p = 0.021), while appropriate for Ana (U = 80, p = 0.001).” 2. “The second analysis consists in crossing results regarding voice with results on explicit preference. Calculations of Spearman’s Rho reveal a significant (r = 0.46; p = 0.002) correlation between the ratings of explicit preference with the differences of the ratings of the voices of the two receptionists. Finally, another correlation was found between Familiarity and Good voice: Spearman’s test highlighted a significant correlation (r = 0.29; p = 0.007). This means that any of the two receptionists, whenever associated with a bad voice, were rated more uncanny. This correlation is stronger in case of Kobiana (r = 0.52; p = 0.006)” which should be replaced by: “The second analysis consists in crossing results regarding voice with results on explicit preference. Calculations of Spearman’s Rho reveal a significant (r(38) = 0.46, p = 0.0028) correlation between the ratings of explicit preference with the differences of the ratings of the voices of the two receptionists. Finally, another positive correlation was found between Good Voice and Familiarity: This means that a receptionist, whenever associated with a bad voice, was rated more uncanny. This correlation is strong in case of Kobiana (r(38) = 0.52, p = 0.0006).” Finally, in Section “References” of the original article there is the following Ref. [43]: [43] W. H. Kruskal and W. A. Wallis, Use of Ranks in One- Criterion Variance Analysis, Journal of the American Statistical Association, 47, 260 (1952) 583–621, 1952. which should be replaced by: [43] F.Wilcoxon, Individual comparisons by ranking methods, Biometrics Bulletin, 1945, 1(6), 80–83.

    DOI

  • Religion and Robots: Towards the Synthesis of Two Extremes

    Gabriele Trovato, Loys De Saint Chamas, Masao Nishimura, Renato Paredes, Cesar Lucho, Alexander Huerta-Mercado, Francisco Cuellar

    International Journal of Social Robotics     1 - 18  2019年  [査読有り]

     概要を見る

    Humanity has been dreaming of robots since the ancient times. Historically, robots — originally called automata — have been the products of technology and faith. The relationship between robots and religion has disappeared in the last two centuries, as science and religion parted ways, and have typically been seen in opposition. Nowadays, as robots and AI are going to spread in human society, new possibilities and new ethical challenges are on the horizon. In this paper, we summarise the state of the art in robotics and religion, and propose a taxonomy for robot morphology that takes into account the factor of religion. The taxonomy encompasses the novel concept of ‘theomorphic robots’, referred to robots that carry the shape of something divine.

    DOI

  • Allocentric emotional affordances in HRI: The multimodal binding

    Jordi Vallverdú, Gabriele Trovato, Lorenzo Jamone

    Multimodal Technologies and Interaction   2 ( 4 )  2018年12月  [査読有り]

     概要を見る

    The concept of affordance perception is one of the distinctive traits of human cognition; and its application to robots can dramatically improve the quality of human-robot interaction (HRI). In this paper we explore and discuss the idea of “emotional affordances” by proposing a viable model for implementation into HRI; which considers allocentric and multimodal perception. We consider “2-ways” affordances: perceived object triggering an emotion; and perceived human emotion expression triggering an action. In order to make the implementation generic; the proposed model includes a library that can be customised depending on the specific robot and application scenario. We present the AAA (Affordance-Appraisal-Arousal) model; which incorporates Plutchik’s Wheel of Emotions; and we outline some numerical examples of how it can be used in different scenarios.

    DOI

  • The Sound or Silence: Investigating the Influence of Robot Noise on Proxemics

    Gabriele Trovato, Renato Paredes, Javier Balvin, Francisco Cuellar, Nicolai Bæk Thomsen, Søren Bech, Zheng Hua Tan

    RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication     713 - 718  2018年11月  [査読有り]

     概要を見る

    In the design of robots that have to share spaces with humans, design plays an important role in the acceptance, and sound is one further aspect that should not be neglected, in order to facilitate interaction and minimise repulsion. Following a previous research in which an uncomfortable noise from a robot was identified, we present an interaction study in which the same noise was tested in order to measure the effect on proxemics, as opposed to a silent condition and to a different version of the sound, masked with ambient music. The results obtained with the participation of 60 subjects show the effectiveness of the mask in avoiding the negative effect of the noise.

    DOI

  • She's electric-The influence of body proportions on perceived gender of robots across cultures

    Gabriele Trovato, Cesar Lucho, Renato Paredes

    Robotics   7 ( 3 )  2018年09月  [査読有り]

     概要を見る

    The assignment of gender to robots is a debatable topic. Subtle aspects related to gender, in a robot's appearance, may create biased expectations of the robot's abilities and influence user acceptance. The present research is a cross-cultural study involving more than 150 participants to investigate the perception of gender in robot design by manipulating body proportions. We are focusing specifically on the contrast between two extremely different cultures: Peruvian and Japanese. From the survey based on stimuli varying in the proportion between chest, waist, and hips, the results indicate the importance of chest-to-hip ratio and waist-to-hip ratio in the attribution of gender to robots.

    DOI

  • The creation of SanTO: A robot with 'divine' features

    Gabriele Trovato, Cesar Lucho, Alvaro Ramon, Renzo Ramirez, Laureano Rodriguez, Francisco Cuellar

    2018 15th International Conference on Ubiquitous Robots, UR 2018     437 - 442  2018年08月  [査読有り]

     概要を見る

    In rapidly ageing societies of developed countries there is a growing need of socially assistive devices. Religion is one key factor in acceptance: we present a new robot called SanTO, inspired by Christian Catholicism. It has the appearance of a statue of a saint, inspired by sacred and neoclassical architecture. Its aim is to keep company with the user for prayer. SanTO has 2 degrees of freedom and can communicate through visual tracking, voice and touch. In this paper we present its design and development.

    DOI

  • DEUS EX MACHINA GABRIELE TROVATO ASKS IF A ROBOT CAN BE A SACRED OBJECT

    Trovato Gabriele

    IEEE SPECTRUM   55 ( 8 ) 15 - 16  2018年08月  [査読有り]

  • Design Strategies for Representing the Divine in Robots

    Gabriele Trovato, Cesar Lucho, Alexander Huerta-Mercado, Francisco Cuellar

    ACM/IEEE International Conference on Human-Robot Interaction     29 - 35  2018年03月  [査読有り]

     概要を見る

    Robot appearance morphology can be divided in anthropomorphic, zoomorphic and functional. In previous recent work, a new catego-ry was introduced, called "theomorphic robots", in which robots carry the shape and the identity of a supernatural creature or object within a religion. This approach can bring some advantages for certain categories of users such as children and elders. This paper is an exploratory discussion over practical design strategies for repre-senting the divine in robots, based on theoretical insights on the historical intertwinements between sacred art and robotics. The illustrated concepts will be followed in the realisation of the proto-types of the first theomorphic robots.

    DOI

  • The Influence of Body Proportions on Perceived Gender of Robots in Latin America

    Gabriele Trovato, Cesar Lucho, Friederike Eyssel, Jasmin Bernotat

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10715 LNAI   158 - 168  2018年  [査読有り]

     概要を見る

    Subtle aspects of a robot’s appearance may create biased expectations of the robot’s abilities, which may influence user acceptance. The present research investigated the perception of gender in robot design, focusing specifically on the proportion between chest, waist, and hips to indicate robot gender. We did so by conducting an online survey in Latin American context. The results highlight the importance of chest-to-hip ratio and waist-to-hip ratio in gender attribution and mind attribution to robots.

    DOI

  • Mind attribution to Androids: A comparative study with Italian and Japanese adolescents

    Gabriele Trovato, Friederike Eyssel

    RO-MAN 2017 - 26th IEEE International Symposium on Robot and Human Interactive Communication   2017-January   561 - 566  2017年12月  [査読有り]

     概要を見る

    The attribution of mental states to humanoid robots is a complex psychological phenomenon, as it depends on several factors, including robot's appearance, its behaviour, its country of origin, as well as peoples' cultural background, and exposition to robots. In this paper, we present a cross-cultural study on mind attribution to androids comparing Italian and Japanese high school students' evaluations. Results suggest that the cultural in-group bias not necessarily applies to mind attribution, as some other factors, such as anthropomorphism of nature, and exposure to robots related popular culture, can modify how androids are perceived.

    DOI

  • Wizard of Oz vs autonomous: Children's perception changes according to robot's operation condition

    Daniel Tozadore, Adam Pinto, Roseli Romero, Gabriele Trovato

    RO-MAN 2017 - 26th IEEE International Symposium on Robot and Human Interactive Communication   2017-January   664 - 669  2017年12月  [査読有り]

     概要を見る

    The presence of robots in human lifestyle is no longer a distant reality, as robots are being employed in several fields, including educational purposes. However, most of the research in educational robotics does not use autonomous social behavior, but rather techniques like Wizard of Oz (WoZ). This paper presents the very first test in a school environment of a robotic architecture to control an autonomous system for educational interactions, evaluated from user's perspective when compared to a teleoperated situation. The architecture aims to manage three main communication robot resources - speech, vision and gesture - in an autonomous way and provide an interaction as acceptable as when someone controls the robot. The experiment was performed randomly assigning 82 students aged between 7 and 11 to interact with a NAO robot in two conditions of robot operation: Autonomous and teleoperated. The results suggest that there is no significant difference between the conditions in user's enjoyment and system time response, but they decreased their perception regarding robot's intelligence after knowing about the teleoperation.

    DOI

  • Security and guidance: Two roles for a humanoid robot in an interaction experiment

    Gabriele Trovato, Alexander Lopez, Renato Paredes, Francisco Cuellar

    RO-MAN 2017 - 26th IEEE International Symposium on Robot and Human Interactive Communication   2017-January   230 - 235  2017年12月  [査読有り]

     概要を見る

    Security is one of the possible fields in human society in which robotics can be applied. Human guards usually perform a range of tasks in which a robot can provide help. A security company collaborated with us in the design and development of a robot that should serve in patrolling large indoor areas, interacting with humans, welcoming, providing information, and be a telepresence platform for the human security guards. In this paper we present a preliminary experiment which involved this new robot in two roles: security and guidance. The former being important especially during night, and the latter being common in daytime, when guards are usually interacting with people who ask them information. The results of the experiment with 55 participants showed how the perception of the appearance of the robot and its effectiveness are influenced by its behaviour and its related perceived more authoritative or kinder traits. These results provide useful indication for the employment of robot guards in a real world situation.

    DOI

  • Robotman: A security robot for human-robot interaction

    Alexander Lopez, Renato Paredes, Diego Quiroz, Gabriele Trovato, Francisco Cuellar

    2017 18th International Conference on Advanced Robotics, ICAR 2017     7 - 12  2017年08月  [査読有り]

     概要を見る

    In this paper we present the design, development and preliminary tests of Robotman, a robot that combines qualities for interaction with humans, and security patrolling services. The robot is inspired by the information obtained from a security company in which their personnel not only perform security patrolling services, but have to interact with people, providing additional information about the area they safeguard. The robot is able to perform security patrols during the night while functioning as a guide during the day. We designed and implemented a robust, easy to assemble, anthropomorphic security robot aiming to patrol large indoor areas, interact with humans, welcome, provide information and guide clients to their destination, as well as function as a telepresence platform for the human security guards. Our results suggest that Robotman is user friendly and pleasing to the people, it can perform security tasks and interact with them.

    DOI

  • A receptionist robot for Brazilian people: Study on interaction involving illiterates

    Gabriele Trovato, Josue G. Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Reid Simmons, Hiroyuki Ishii, Atsuo Takanishi

    Paladyn   8 ( 1 ) 1 - 17  2017年04月  [査読有り]

     概要を見る

    The receptionist job, consisting in providing useful indications to visitors in a public office, is one possible employment of social robots. The design and the behaviour of robots expected to be integrated in human societies are crucial issues, and they are dependent on the culture and society in which the robot should be deployed. We study the factors that could be used in the design of a receptionist robot in Brazil, a country with a mix of races and considerable gaps in economic and educational level. This inequality results in the presence of functional illiterate people, unable to use reading, writing and numeracy skills. We invited Brazilian people, including a group of functionally illiterate subjects, to interact with two types of receptionists differing in physical appearance (agent v mechanical robot) and in the sound of the voice (human like v mechanical). Results gathered during the interactions point out a preference for the agent, for the human-like voice and a more intense reaction to stimuli by illiterates. These results provide useful indications that should be considered when designing a receptionist robot, as well as insights on the effect of illiteracy in the interaction.

    DOI

  • Introducing 'theomorphic robots'

    Gabriele Trovato, Francisco Cuellar, Masao Nishimura

    IEEE-RAS International Conference on Humanoid Robots     1245 - 1250  2016年12月  [査読有り]

     概要を見る

    As robots are going to spread in human society, the study of their appearance becomes a critical matter when assessing robots performance and appropriateness for an application and for the employment in different countries, with different background cultures and religions. Robot appearance categories are commonly divided in anthropomorphic, zoomorphic and functional. In this paper, we offer a theoretical contribution by introducing a new category, called 'theomorphic robots', in which robots carry the shape and the identity of a supernatural creature or object within a religion. Discussing the theory of dehumanisation and the different categories of supernatural among different religions, we hypothesise the possible advantages of the theomorphic design for different applications.

    DOI

  • Emotional affordances for human-robot interaction

    Jordi Vallverdu, Gabriele Trovato

    ADAPTIVE BEHAVIOR   24 ( 5 ) 320 - 334  2016年10月  [査読有り]

     概要を見る

    This paper provides a new concept for the improvement of human-robot interaction (HRI) models: 'emotional affordances'. Emotional affordances are all the mechanisms that have emotional content as a way to transmit and/or collect emotional meaning about any context; it can include bodily expressions, social norms, values-laden objects or extended space, among others. With this rich concept, we open the way to new ways to understand the multimodal and complex nature of emotional mechanisms. Based on the grounded emotional mechanisms of human cognition and behaviour (that is, based and result of the bodily structure and its coupled relationship with the natural and/or social environment), the purpose of this paper is focused on the definition of a framework for the design of a taxonomy of emotional affordances, useful for a modal and improved understanding of the domains of emotional interactions that can emerge between humans and robots. This process will make possible in next research steps to define processing modules as well as to elicit visual display outputs (expressing emotions). Consequently, with this project we provide robotic experts with a unified taxonomy of human emotional affordances, useful for the improvement of HRI projects.

    DOI

  • Emotional affordances for human-robot interaction

    Jordi Vallverdu, Gabriele Trovato

    ADAPTIVE BEHAVIOR   24 ( 5 ) 320 - 334  2016年10月  [査読有り]

     概要を見る

    This paper provides a new concept for the improvement of human-robot interaction (HRI) models: 'emotional affordances'. Emotional affordances are all the mechanisms that have emotional content as a way to transmit and/or collect emotional meaning about any context; it can include bodily expressions, social norms, values-laden objects or extended space, among others. With this rich concept, we open the way to new ways to understand the multimodal and complex nature of emotional mechanisms. Based on the grounded emotional mechanisms of human cognition and behaviour (that is, based and result of the bodily structure and its coupled relationship with the natural and/or social environment), the purpose of this paper is focused on the definition of a framework for the design of a taxonomy of emotional affordances, useful for a modal and improved understanding of the domains of emotional interactions that can emerge between humans and robots. This process will make possible in next research steps to define processing modules as well as to elicit visual display outputs (expressing emotions). Consequently, with this project we provide robotic experts with a unified taxonomy of human emotional affordances, useful for the improvement of HRI projects.

    DOI

  • Application of the Naive Bayes Classifier for Representation and Use of Heterogeneous and Incomplete Knowledge in Social Robotics

    Trovato Gabriele, Chrupala Grzegorz, Takanishi Atsuo

    ROBOTICS   5 ( 1 )  2016年03月  [査読有り]

    DOI

  • Introducing IOmi - A Female Robot Hostess for Guidance in a University Environment

    Eiji Onchi, Cesar Lucho, Michel Sigueenza, Gabriele Trovato, Francisco Cuellar

    SOCIAL ROBOTICS, (ICSR 2016)   9979   764 - 773  2016年  [査読有り]

     概要を見る

    In this paper we introduce IOmi: a life-sized female humanoid hostess robot intended for serving as guidance in indoor public spaces. Its design methodology, adapted from industrial design approaches, is intended to be applicable in different scenarios, considering the final users of the robot, the intended use of the agent, and the contextual environment. Results from the first test inside a Latin American university environment clarified the needs of the potential users and suggested new directions of research.

    DOI

  • Is hugging a robot weird? Investigating the influence of robot appearance on users' perception of hugging

    Gabriele Trovato, Martin Do, Oemer Terlemez, Christian Mandery, Hiroyuki Ishii, Nadia Bianchi-Berthouze, Tamim Asfour, Atsuo Takanishi

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     318 - 323  2016年  [査読有り]

     概要を見る

    Humanoid robots are expected to be able to communicate with humans using physical interaction, including hug, which is a common gesture of affection. In order to achieve that, their physical embodiment has to be carefully planned, as a user-friendly design will facilitate interaction and minimise repulsion. In this paper, we investigate the effect of manipulating the visual/tactile appearance of a robot, covering wires and metallic parts with clothes, and the auditory effect by enabling or disabling the connector of the hand. The experiment consists in a hugging interaction between the participants and the humanoid robot ARMAR-IIIb. Results after participation of 24 subjects confirm the positive effect from using clothes to modify the appearance and the negative effect of noise and vibration.

    DOI

  • A novel greeting selection system for a culture-adaptive humanoid robot

    Gabriele Trovato, Massimiliano Zecca, Martin Do, Ömer Terlemez, Masuko Kuramochi, Alexander Waibel, Tamim Asfour, Atsuo Takanishi

    International Journal of Advanced Robotic Systems   12  2015年04月  [査読有り]

     概要を見る

    Robots, especially humanoids, are expected to perform human-like actions and adapt to our ways of communication in order to facilitate their acceptance in human society. Among humans, rules of communication change depending on background culture: greetings are a part of communication in which cultural differences are strong. Robots should adapt to these specific differences in order to communicate effectively, being able to select the appropriate manner of greeting for different cultures depending on the social context. In this paper, we present the modelling of social factors that influence greeting choice, and the resulting novel culture-dependent greeting gesture and words selection system. An experiment with German participants was run using the humanoid robot ARMAR-IIIb. Thanks to this system, the robot, after interacting with Germans, can perform greeting gestures appropriate to German culture in addition to a repertoire of greetings appropriate to Japanese culture.

    DOI

  • Investigating the Effect of Relative Cultural Distance on the Acceptance of Robots

    G. Trovato, J. R. C. Ham, K. Hashimoto, H. Ishii, A. Takanishi

    SOCIAL ROBOTICS (ICSR 2015)   9388   664 - 673  2015年  [査読有り]

     概要を見る

    A complex relationship exists between people's cultural background and their general acceptance towards robots. Previous studies supported the idea that humans may accept more easily a robot that can adapt to their specific culture. However, it is not clear whether between two robots which are identified as foreign robots because of their verbal and non-verbal expressions, the one that is culturally closer may be preferred or not. In this experiment, participants of Dutch nationality were engaged in a simulated video conference with a robot that is greeting and speaking either in German or in Japanese; they completed a questionnaire assessing their preferences and their emotional state. As Dutch participant showed less signs of discomfort and better acceptance when interacting with a German robot, the hypothesis that acceptance of a robot could be directly proportional to cultural closeness was supported, while the hypothesis that similar foreign robots are equally less accepted regardless of the country-was rejected. Implications are discussed for how robots should be designed to be employed in different countries.

    DOI

  • Study on Adaptation of Robot Communication Strategies in Changing Situations

    G. Trovato, J. Galeazzi, E. Torta, J. R. C. Ham, R. H. Cuijpers

    SOCIAL ROBOTICS (ICSR 2015)   9388   654 - 663  2015年  [査読有り]

     概要を見る

    With the increasing demand for socially assistive robots in various domains, it becomes important to make robots that are able to start communication and attract people's attention whenever necessary. Although verbal and non-verbal ways of communication have been studied before, adjusting them to changing situations of the environment is still a challenge. In fact, as the environment in which the interaction takes place mutates, and individual differences exist in human perception, some channels of communication may be less effective than others. This paper describes a study in which a Nao robot tries to use different behaviours to start an interaction with a human counterpart, in four changing environmental conditions (loudness, ambient luminance, distance and angle). The robot determines the state of those conditions and through an online learning process is capable of choosing the most effective behaviour for each individual taking into account individual preferences. The findings of this paper will be useful to make a robot initiate a communication successfully.

    DOI

  • Designing a receptionist robot: effect of voice and appearance on anthropomorphism

    G. Trovato, J. G. Ramos, H. Azevedo, A. Moroni, S. Magossi, H. Ishii, R. Simmons, A. Takanishi

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)     235 - 240  2015年  [査読有り]

     概要を見る

    Robots are possible candidates for performing tasks as helpers in activities of daily living in the future: working as a receptionist is one possible employment. However, the way the receptionist robot should appear, sound and behave needs to be investigated carefully, in order to design a robot which is accepted and perceived in a positive way by common users. This paper describes a study on anthropomorphism of a receptionist robot made for Brazilian people depending on the appearance and on the voice of the receptionist. This experiment was preceded by a preliminary survey about expectation of people regarding receptionists. The main experiment consisted in having Brazilian people interacting with a conversational agent and with a humanoid robot through a video conference. The two receptionists are not only different in physical appearance, but in the sound of the voice, too, which can be either human-like or robotic sound. The two receptionists gave indications to the participants to reach rooms where they could evaluate the receptionists through questionnaires concerning anthropomorphism and uncanniness among other concepts. The results gathered from both experiments provide useful hints to design a receptionist robot.

    DOI

  • "Olá, my name is Ana": A study on Brazilians interacting with a receptionist robot.

    Gabriele Trovato, Josu, Jr. Guimarães Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Hiroyuki Ishii,Reid, G. Simmons, Atsuo Takanishi

    International Conference on Advanced Robotics, ICAR 2015, Istanbul, Turkey, July 27-31, 2015     66 - 71  2015年  [査読有り]

    DOI

  • Procedurally Generated History: building a game ecosystem through autoplay.

    Gabriele Trovato, Soren Johnson, Pieter Spronck

    Proceedings of the 10th International Conference on the Foundations of Digital Games, FDG 2015, Pacific Grove, CA, USA, June 22-25, 2015    2015年  [査読有り]

  • Mapping artificial emotions into a robotic face

    Gabriele Trovato, Atsuo Takanishi

    Handbook of Research on Synthesizing Human Emotion in Intelligent Systems and Robotics     229 - 254  2014年11月  [査読有り]

     概要を見る

    Facial expressions are important for conveying emotions and communication intentions among humans. For this reason, humanoid robots should be able to perform facial expressions which represent their inner state in a way that is easy to understand for humans. Several humanoid robots can already perform a certain set of expressions, but their capabilities are usually limited to only the most basic emotions. It is necessary to consider a wider range of expressions and take advantage of the use of asymmetry. This chapter describes these aspects as well as insights about artificial emotions models, the mapping of human face into robotic face and finally the generation of facial expressions.

    DOI

  • Design Choices in the Development of a Robotic Head: Human-Likeness, Form and Colours

    Scean Mitchell, Gabriele Trovato, Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    Proceedings of 2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)     225 - 233  2014年06月  [査読有り]

    DOI

  • A Robotic Head that Displays Japanese "Manga" Marks

    Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto, Atsuo Takanishi

    Proceedings of 2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)     245 - 253  2014年06月  [査読有り]

    DOI

  • Development of a Comic Mark Based Expressive Robotic Head Adapted to Japanese Cultural Background

    T. Kishi, H. Futaki, G. Trovato, N. Endo, M. Destephe, S. Cosentino, K. Hashimoto, A. Takanishi

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)     2608 - 2613  2014年  [査読有り]

     概要を見る

    This paper describes the development of a robotic head that has cartoon facial expression ability with comic marks. For communicating with humans, robots should have expressive facial expression ability for indicating their inner state. Our previous research suggests that robots can express its emotion clearly if it performs facial expressions that are adapted to the cultural background of the communication partner. As a first step, we focus on making expressions for Japanese people. Comic mark is a unique and famous way of emotion expression in Japanese culture. First, we defined facial expressions by combining cartoon-like shape of the facial parts with high emotion recognition rates. Then we asked cartoonists to draw comic marks which they think are effective for emotion expression and find the effective comic marks as "Cross popping veins" for "Anger", "Tear mark" for "Sadness" and "Vertical lines" for "Fear". Finally we obtained a model expression which has sufficiently high emotion recognition rate from the combination of the facial expression and the comic marks. In order to achieve these expressions, we developed flexible full color LED display matrix module and mechanism that push and pull the sheet for expressing black lines. Results of experimental evaluation shows that the new robotic head has over 90% average emotion recognition rates for each of the six basic emotions. The results with non-Japanese subjects suggests that impression of emotion expression on robotic head changes depending on the cultural background. These findings encourage us in pursuing this concept of designing robots that display emotions that are adapted to cultural background of communication partner.

    DOI

  • A Novel Culture-Dependent Gesture Selection System for a Humanoid Robot Performing Greeting Interaction

    Gabriele Trovato, Martin Do, Masuko Kuramochi, Massimiliano Zecca, Oemer Terlemez, Tamim Asfour, Atsuo Takanishi

    SOCIAL ROBOTICS   8755   340 - 349  2014年  [査読有り]

     概要を見る

    In human-robot interaction, it is important for the robots to adapt to our ways of communication. As humans, rules of non-verbal communication, including greetings, change depending on our culture. Social robots should adapt to these specific differences in order to communicate effectively, as a correct way of approaching often results into better acceptance of the robot. In this study, a novel greeting gesture selection system is presented and an experiment is run using the robot ARMAR-IIIb. The robot performs greeting gestures appropriate to Japanese culture; after interacting with German participants, the selection should become appropriate to German culture. Results show that the mapping of gesture selection evolves successfully.

    DOI

  • Cross-Cultural Perspectives on Emotion Expressive Humanoid Robotic Head: Recognition of Facial Expressions and Symbols

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   5 ( 4 ) 515 - 527  2013年11月  [査読有り]

     概要を見る

    Emotion display through facial expressions is an important channel of communication. However, between humans there are differences in the way a meaning to facial cues is assigned, depending on the background culture. This leads to a gap in recognition rates of expressions: this problem is present when displaying a robotic face too, as a robot's facial expression recognition is often hampered by a cultural divide, and poor scores of recognition rate may lead to poor acceptance and interaction. It would be desirable if robots could switch their output facial configuration flexibly, adapting to different cultural backgrounds. To achieve this, we made a generation system that produces facial expressions and applied it to the 24 degrees of freedom head of the humanoid social robot KOBIAN-R, and thanks to the work of illustrators and cartoonists, the system can generate two versions of the same expression, in order to be easily recognisable by both Japanese and Western subjects. As a tool for making recognition easier, the display of Japanese comic symbols on the robotic face has also been introduced and evaluated. In this work, we conducted a cross-cultural study aimed at assessing this gap in recognition and finding solutions for it. The investigation was extended to Egyptian subjects too, as a sample of another different culture. Results confirmed the differences in recognition rates, the effectiveness of customising expressions, and the usefulness of symbols display, thereby suggesting that this approach might be valuable for robots that in the future will interact in a multi-cultural environment.

    DOI

  • GENERATION OF HUMANOID ROBOT'S FACIAL EXPRESSIONS FOR CONTEXT-AWARE COMMUNICATION

    Gabriele Trovato, Massimiliano Zecca, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   10 ( 1 )  2013年03月  [査読有り]

     概要を見る

    Communication between humans and robots is a very important aspect in the field of Humanoid Robotics. For a natural interaction, robots capable of nonverbal communication must be developed. However, despite the most recent efforts, robots still can show only limited expression capabilities. The purpose of this work is to create a facial expression generator that can be applied to the 24 DoF head of the humanoid robot KOBIAN-R. In this manuscript, we present a system that based on relevant studies of human communication and facial anatomy can produce thousands of combinations of facial and neck movements. The wide range of expressions covers not only primary emotions, but also complex or blended ones, as well as communication acts that are not strictly categorized as emotions. Results showed that the recognition rate of expressions produced by this system is comparable to the rate of recognition of the most common facial expressions. Context-based recognition, which is especially important in case of more complex communication acts, was also evaluated. Results proved that produced robotic expressions can alter the meaning of a sentence in the same way as human expressions do. We conclude that our system can successfully improve the communication abilities of KOBIAN-R, making it capable of complex interaction in the future.

    DOI

  • Towards culture-specific robot customisation: A study on greeting interaction with Egyptians

    Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto, Atsuo Takanishi

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     447 - 452  2013年  [査読有り]

     概要を見る

    A complex relationship exists between national cultural background and interaction with robots, and many earlier studies have investigated how people from different cultures perceive the inclusion of robots into society. Conversely, very few studies have investigated how robots, speaking and using gestures that belong to a certain national culture, are perceived by humans of different cultural background. The purpose of this work is to prove that humans may better accept a robot that can adapt to their specific national culture. This experiment of Human-Robot Interaction was performed in Egypt. Participants (native Egyptians versus Japanese living in Egypt) were shown two robots greeting them and speaking respectively in Arabic and Japanese, through a simulated video conference. Spontaneous reactions of the human subjects were measured in different ways, and participants completed a questionnaire assessing their preferences and their emotional state. Results suggested that Egyptians prefer the Arabic version of the robot, while they report discomfort when interacting with the Japanese version. These findings confirm the importance of a culture-specific customisation of robots in the context of Human-Robot Interaction. © 2013 IEEE.

    DOI

  • Impression Survey of the Emotion Expression Humanoid Robot with Mental Model based Dynamic Emotions

    T. Kishi, T. Kojima, N. Endo, M. Destephe, T. Otani, L. Jamone, P. Kryczka, G. Trovato, K. Hashimoto, S. Cosentino, A. Takanishi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     1663 - 1668  2013年  [査読有り]

     概要を見る

    This paper describes the implementation in a walking humanoid robot of a mental model, allowing the dynamical change of the emotional state of the robot based on external stimuli; the emotional state affects the robot decisions and behavior, and it is expressed with both facial and whole-body patterns. The mental model is applied to KOBIAN-R, a 65-DoFs whole body humanoid robot designed for human-robot interaction and emotion expression. To evaluate the importance of the proposed system in the framework of human-robot interaction and communication, we conducted a survey by showing videos of the robot behaviors to a group of 30 subjects. The results show that the integration of dynamical emotion expression and locomotion makes the humanoid robot more appealing to humans, as it is perceived as more "favorable" and "useful", and less "robot-like."

    DOI

  • Cross-cultural study on human-robot greeting interaction: acceptance and discomfort by Egyptians and Japanese.

    Gabriele Trovato, Massimiliano Zecca,Array, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto, Atsuo Takanishi

    Paladyn   4 ( 2 ) 83 - 93  2013年  [査読有り]

    DOI

  • A cross-cultural study on generation of culture dependent facial expressions of humanoid social robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   7621   35 - 44  2012年  [査読有り]

     概要を見る

    Communication between humans and robots is a very critical step for the integration of social robots into society. Emotion expression through a robotic face is one of the key points of communication. Despite the most recent efforts, no matter how much expression capabilities improve, facial expression recognition is often hampered by a cultural divide between subjects that participate in surveys. The purpose of this work is to take advantage of the 24 degrees of freedom head of the humanoid social robot KOBIAN-R for making it capable of displaying different versions of the same expressions, using face and neck, in a way that they are easy to understand for Japanese and for Western subjects. We present a system based on relevant studies of human communication and facial anatomy, as well as on the work of illustrators and cartoonists. The expression generator we developed can be adapted to specific cultures. Results confirmed the in-group advantage, showing that the recognition rate of this system is higher when the nationality of the subjects and the cultural characterisation of the shown expressions are coincident. We conclude that this system could be used, in future, on robots that have to interact in a social environment, with people with different cultural background. © 2012 Springer-Verlag.

    DOI

  • Evaluation Study on Asymmetrical Facial Expressions Generation for Humanoid Robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)     129 - 134  2012年  [査読有り]

     概要を見る

    Human-Robot Interaction is one of the biggest challenges in Humanoid Robotics. Interaction can be carried out through different channels, as humans can communicate through complex languages, including the use of non-verbal communication. Specifically, facial expressions are important for conveying emotions and communication intentions. Several humanoid robots can already perform a certain set of expressions, but their capabilities are somewhat limited and as a result, interaction is not natural. One aspect that could help robots being perceived as real is asymmetry. That is why in this paper we perform an evaluation study of symmetrical and asymmetrical facial expressions of the humanoid robot KOBIAN-R. These expressions are made by a generator based on relevant studies of facial anatomy and non-verbal communication and on the work of illustrators and cartoonists. Survey results confirmed the effectiveness of the generator and the importance of asymmetry. We conclude that using this system, robot communication capabilities improve, making possible the development of more advanced interaction in the future.

    DOI

  • Development of Facial Expressions Generator for Emotion Expressive Humanoid Robot

    Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)     303 - 308  2012年  [査読有り]

     概要を見る

    Human-robot communication is a very important aspect in the field of Humanoid Robotics. Non-verbal communication is one of the components that make interaction natural. However, despite the most recent efforts, robots still can show only limited expression capabilities. The purpose of this work is to create a facial expression generator that can be applied to the new 24 DoF head of the humanoid robot KOBIAN-R. In this paper, we present a system based on relevant studies of human communication and facial anatomy, adapted to the specific robotic face. It makes use of polynomial classifiers and is able to produce over 600 thousands of facial cues combinations, together with appropriate neck movement. Results showed that the recognition rate of expressions produced by this system is comparable to the rate of recognition of the most common facial expressions. We conclude that our system can successfully improve the communication capabilities of the robot KOBIAN-R, and that there is potential for using it to implement more complex interaction.

    DOI

  • Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

    G. Trovato, M. Shikanai, G. Ukawa, J. Kinoshita, N. Murai, J. W. Lee, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, M. Hashizume

    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY   5 ( 4 ) 317 - 325  2010年07月  [査読有り]

     概要を見る

    Purpose Fibre optic colonoscopy is usually performed with manual introduction and advancement of the endoscope, but there is potential for a robot capable of locomoting autonomously from the rectum to the caecum. A prototype robot was designed and tested.
    Methods The robot colonic endoscope consists in a front body with clockwise helical fin and a rear body with anticlockwise one, both connected via a DC motor. Input voltage is adjusted automatically by the robot, through the use of reinforcement learning, determining speed and direction (forward or backward).
    Results Experiments were performed both in-vitro and in-vivo, showing the feasibility of the robot. The device is capable of moving in a slippery environment, and reinforcement learning algorithms such as Q-learning and SARSA can obtain better results than simply applying full tension to the robot.
    Conclusions This self-propelled robotic endoscope has potential as an alternative to current fibre optic colonoscopy examination methods, especially with the addition of new sensors under development.

    DOI

▼全件表示

書籍等出版物

  • Editorial Introduction to Special Issue on Religion in Robotics

    Gabriele Trovato, Yueh-Hsuan Weng, Antonio Sgorbissa, Rainer Wieching( 担当: 編集)

    2021年

  • Handbook of Research on Synthesizing Human Emotion in Intelligent Systems and Robotics

    トロヴァト ガブリエレ( 担当: 共著,  担当範囲: 229–254)

    IGI Global  2015年05月

産業財産権

  • “Agente Religioso” (Religious Agent)

    特許001860-2018/DIN

    トロヴァト ガブリエレ

    特許権

     概要を見る

    Design rights registered to Indecopi (Peru) and extended to the European Union (application n. 005743507)

Works(作品等)

  • Sid Meier's Civilization IV - Rhye's and Fall of Civilization

    トロヴァト ガブリエレ  ソフトウェア 

    2005年
    -
    2008年

その他

  • Interview on wired.com

    2018年10月
     
     

     概要を見る

    https://www.wired.com/story/robot-gender-stereotypes/

  • Interview on 'Vida Nueva' magazine

    2018年08月
     
     

     概要を見る

    http://www.vidanuevadigital.com/2018/07/28/el-santo-primer-robot-catolico-contemporaneo/

  • Interview on 'Il Messaggero' newspaper

    2018年07月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/messaggeroPDF2.jpg

  • Interview on IEEE Spectrum

    2018年06月
     
     

     概要を見る

    https://spectrum.ieee.org/automaton/robotics/artificial-intelligence/can-a-robot-be-divine

  • Interview on 'Striscia la Notizia' TV program

    2018年06月
     
     

     概要を見る

    http://www.striscialanotizia.mediaset.it/video/occhio-al-futuro-robot_36511.shtml

  • Interview on 'Vanity Fair' magazine

    2017年09月
     
     

     概要を見る

    https://www.pressreader.com/italy/vanity-fair-italy/20170927/282303910326862

  • Interview on 'TGR Leonardo' TV news

    2017年09月
     
     

     概要を見る

    http://www.rai.it/dl/RaiTV/programmi/media/ContentItem-d46d87b2-80d0-4cc1-a0d8-b4e570e68aa4.html

  • Appeared on SkyTG24 TV news

    2017年08月
     
     

     概要を見る

    http://video.sky.it/news/mondo/robot-dal-sassofonista-was5-al-re-asimo/v360700.vid

  • Interview on 'Striscia la Notizia' TV program

    2015年10月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/Gabetti_Striscia_profiloB.jpg

  • Appeared on The Washington Post newpaper

    2015年04月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/washingtonPost_4_90.png

  • Appeared on 'Il Tirreno' newspaper

    2015年01月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/3genn_cut2.jpg

  • Appeared on mynavi.jp

    2014年04月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/nishimura_v4_resize.jpg

  • Interview on 'Il Tirreno' newspaper

    2014年04月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/articolo_small.jpg

  • Appeared on yahoo.com

    2007年07月
     
     

     概要を見る

    http://rhye.civfanatics.net/gabu/yahoo.jpg

▼全件表示

受賞

  • 2nd prize

    2019年   IET Intelligent Sensing Summer School CORSMAL Challenge  

    受賞者: トロヴァト ガブリエレ

  • 2nd classified for the innovation in the robot design contest

    2017年   International Conference on Social Robotics  

    受賞者: トロヴァト ガブリエレ

  • Best Paper Finalist Award

    2016年   International Conference on Social Robotics  

    受賞者: トロヴァト ガブリエレ

  • Postdoctoral Fellowship for Foreign Researchers

    2014年   日本学術振興会 (JSPS)  

    受賞者: トロヴァト ガブリエレ

  • Best Poster Award

    2014年   International Conference on Social Robotics  

    受賞者: トロヴァト ガブリエレ

  • Best Paper Finalist Award

    2012年   International Conference on Innovative Engineering Systems  

    受賞者: トロヴァト ガブリエレ

  • Japanese government scholarship “Monbukagakusho”

    2010年   文部科学省 (MEXT)  

    受賞者: トロヴァト ガブリエレ

  • 1st prize

    2007年08月   Logitech GameFlood videogame mod design world contest  

    受賞者: トロヴァト ガブリエレ

  • Awarded for qualification to the Italian provincial stage

    1999年   Mathematical Olympiad  

    受賞者: トロヴァト ガブリエレ

▼全件表示

共同研究・競争的資金等の研究課題

  • e-ViTA

    国際標準獲得型 

    研究期間:

    2021年01月
    -
    2024年03月
     

  • Development of a social robot for immigrants integration

    Waseda University Early Career Grant 

    研究期間:

    2019年
    -
    2020年
     

    トロヴァト ガブリエレ

  • Development of small social robots inspired to culture and religion for elderly people

    Waseda University 特定課題 (Kiso) 

    研究期間:

    2018年
    -
    2019年
     

    トロヴァト ガブリエレ

  • Design and customisation of acceptable robots for employment in societies

    JSPS Grant-in-aid 

    研究期間:

    2014年12月
    -
    2016年11月
     

    トロヴァト ガブリエレ

講演・口頭発表等

  • Keynote speech at the Fourth International Congress on Love and Sex with Robots, Brussels, Belgium

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2019年07月

  • TEDx, Livorno, Italy

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2019年04月

  • Workshop on Design-centered HRI and Governance

     [招待有り]

    RO-MAN 2021  

    発表年月: 2021年08月

  • Panel discussion at "Leggermente"

    発表年月: 2021年07月

  • CHArt Lab

     [招待有り]

    発表年月: 2021年06月

  • University of Tokyo (東大)

     [招待有り]

    発表年月: 2021年04月

  • New York University

     [招待有り]

    発表年月: 2021年03月

  • University of Paris 8

     [招待有り]

    発表年月: 2021年02月

  • Workshop on Theomorphic Robots

     [招待有り]

    Robophilosophy 2020  

    発表年月: 2020年08月

  • Loughborough University, UK

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2019年09月

  • Ca'Foscari University of Venice, Italy

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2019年08月

  • Semana de Investigación y Innovación, Lima, Peru; March 2019

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2019年03月

  • Italy-Japan Workshop 2018: 最初のロボット

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2018年12月

  • Tohoku University, Sendai, Japan

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2018年10月

  • Innopolis University, Kazan, Russia

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2018年01月

  • Queen Mary University of London, UK

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2018年01月

  • Workshop on Religion in Robotics

    トロヴァト ガブリエレ

    International Conference on Social Robotics  

    発表年月: 2017年11月

  • 1st International Festival of Robotics, Pisa, Italy

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2017年09月

  • R. Archer IT Center, Campinas, Brazil

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2017年06月

  • University of São Paulo, São Carlos, Brazil

    トロヴァト ガブリエレ

    発表年月: 2017年06月

  • GAMUX, UNICAMP, Brazil

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2017年06月

  • Innopolis University, Kazan, Russia

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2017年02月

  • Chubu University, Aichi-ken, Japan

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2017年01月

  • CINVESTAV, Guadalajara, Mexico

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2016年11月

  • National Autonomous University of Mexico, Mexico City, Mexico

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2016年11月

  • Pontifical Catholic University of Peru, Lima, Peru

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2016年09月

  • R. Archer IT Center, Campinas, Brazil

    トロヴァト ガブリエレ

    発表年月: 2016年09月

  • University of São Paulo, São Carlos, Brazil

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2016年09月

  • 1st International Workshop on Affective Computing for Social Robotics (ACSR)

    トロヴァト ガブリエレ

    IEEE RO-MAN  

    発表年月: 2016年08月

  • Columbia University, New York City, USA

    トロヴァト ガブリエレ  [招待有り]

    Teacher Tinker Technology Bootcamp: Use EdTech to Build a 21st Century Classroom  

    発表年月: 2016年08月

  • Aalborg University, Denmark

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2015年12月

  • Kariya High School, Kariya-shi

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2015年11月

  • Workshop "From Temporal Interactions to Sustainable Relationships –Engineering, Psychological and Philosophical approaches"

    トロヴァト ガブリエレ

    IEEE RO-MAN  

    発表年月: 2015年08月

  • Technical University of Munich, Germany

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年09月

  • Pontifical Catholic University of Campinas, Brazil

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年05月

  • Federal University of Rio de Janeiro, Brazil

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年05月

  • 卓越成果報告会, Tokyo, Japan

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年02月

  • Tilburg University, Netherlands

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年01月

  • University of Hertfordshire, Hatfield, UK

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2014年01月

  • CITEC, Bielefeld University, Germany

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2013年12月

  • KAIST, Daejeon, South Korea

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2013年08月

  • KIST, Seoul, South Korea

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2013年08月

  • Dongseo University, Busan, South Korea

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2013年08月

  • Eindhoven University of Technology, Netherlands

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2013年07月

  • Beijing Institute of Technology, China

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2012年10月

  • Scientific Secondary School F. Cecioni, Livorno, Italy

    トロヴァト ガブリエレ  [招待有り]

    発表年月: 2012年05月

▼全件表示

特定課題研究

  • Creation of smart personal devices for social robots

    2020年  

     概要を見る

    The existing two robots SanTO and DarumaTO-2 have limited functionalities in terms of hardware and software.The most critical part is the communication with the user, as Daruma-TO2 is not sensing the user, and SanTO, while it has a camera to recognise user's position, does not have any knowledge to understand the context.The development in FY2021 took place in two directions. Hardware of Daruma-TO was improved and touch sensors were integrated, making it capable of moving left/right and following simple vocal commands. SanTO external appearance was revised and the candle that will become a separate "personal device" was also separated from the whole robot base and re-sketched. In the future work, it will be 3D printed.Software was also developed in collaboration with researchers from Peru, who took part in the previous development of SanTO. A particular effort was made to ensure a safe protocol of communication between the user interface and the contents of the robot. In the future work, this communication code will be integrated with the 3D printed device.

  • Development of a social robot for immigrants integration

    2019年  

     概要を見る

    This research was centred on the development of a social robot for immigrant integration, which starting taking place in 2019. It took place as the creation of a robotic Islamic mosque with minaret.It is thought for Muslim families of immigrants in other countries. These immigrants typically struggle in their integration, while being concerned about the loss of their children of study of Arabic and of the Quran. The robotic mosque has a minaret that calls at the time of the prayer and interactively teaches Arabic and the Quran, joining also teachings regarding the religion of the host country (that is, Japan, or a European country), effectively helping integration in an indirect way to the whole immigrant family.I travelled to Europe to coordinate the work at Siegen University in July 2019. after stopping by Bruxelles to give a keynote speech on the same topic at the LSR2019 congress. In August I also visited the London East Mosque and had the opportunity to have a hearing with Shaykh Mahmoud, imam.In Novemeber and December 2019 an Iranian student from Germany, Mehrbod Manavi, came as a visiting student and developed the hardware and part of the software of the mosque. The next step will be to complete the software and the contents, through another student.

  • Development of small social robots inspired to culture and religion for elderly people

    2019年  

     概要を見る

    This research is about the two robot prototypes inspired to Shinto/Buddhism (DarumaTO) and to Christianity (SanTO).In the ageing societies of Japan and Europe, there is a growing need of socially assistive devices. For this purpose, the proposer made prototypes of robots inspired by religious objects, which are commonly familiar to elderly people, as they typically do not feel comfortable in using technological devices. Religion is a very important theme, as studies reported the association between religion and physical and mental health. During the last part of the year, covered by this grant, I brought the robot SanTO with me in UK and Italy, and managed to have a hearing with Mons. Ruiz, secretary of the Vatican. Based on that hearing, I decided the direction to take for the following developments.The latest results were presented in RO-MAN conference in New Delhi, India, in October 2019, where I am also associate editor, session chair and jury member.Back in Waseda, the robot DarumaTO was used by students of Science and Engineering to improve the dialogue system for the application in nursery homes.

  • Development of small social rrobots inspired to culture and religion for elderly people

    2018年   Francisco Cuellar

     概要を見る

    As planned in the application to this project, the two robots SanTO and DarumaTO were developed in terms of hardware and software. In particular, the robot SanTO was revised with a new lighting system, new speakers and several parts of the external cover replaced by new 3D prints.Software was improved for both robots, with the registration to the Google Cloud speech recognition service and to VocalWare service of text-to-speech. Thanks to this, a dialogue system was developed. A fully working SanTO was then tested with users in Peru during March 2019.Previously, the intellectual property of SanTO was protected through the application for the design rights, during Spring 2018. In total, 1 journal papers and 2 conference papers were produced. The robot was displayed in events in Japan and Germany.The robot SanTO gained increasing attention from the press, and was featured in Italian TV, in Spanish magazines and even in prestigious news magazines like IEEE Spectrum, and prestigious newspapers (the Wall Street Journal). This research topic was also presented in the form of invited talks in several locations, such as Tohoku University, and the worldwide notorious TEDx event.Overall, we can state that the achieved results are superior to the initial goals submitted one year ago.

 

現在担当している科目

担当経験のある科目(授業)

  • Advanced Computer Programming

    Waseda University  

  • Introduction to Information Society and Science

    Waseda University  

  • Computerized Society

    Waseda University  

  • Introduction to Computer Programming

    Waseda University  

  • Artificial Intelligence

    Waseda University  

 

委員歴

  • 2016年
    -
    継続中

    International Conference on Social Robotics  Publicity co-chair; Associate Editor

  • 2016年
    -
    継続中

    IEEE RO-MAN  Associate Editor

  • 2011年
    -
    継続中

    Italy-Japan Workshop  Co-chair of the local organising committee

  • 2019年
    -
    2020年

    IEEE RO-MAN Fundraising Chair