| The law of stretched systems in action: exploiting robots | | BIBA | Full-Text | 1 | |
| David D. Woods | |||
| Robotic systems represent new capabilities that justifiably excite
technologists and problem holders in many areas. But what affordances do the
new capabilities represent and how will problem holders and practitioners
exploit these capabilities as they struggle to meet performance demands and
resource pressures? Discussions of the impact of new robotic technology
typically mistake new capabilities for affordances in use. The dominate note is
that robots as autonomous agents will revolutionize human activity. This is a
fundamental oversimplification (see Feltovich et al., 2001) as past research
has shown that advances in autonomy (an intrinsic capability) have turned out
to demand advances in support for coordinated activity (extrinsic affordances).
The Law of Stretched Systems captures the co-adaptive dynamic that human
leaders under pressure for higher and more efficient levels of performance will
exploit new capabilities to demand more complex forms of work (Woods and
Dekker, 2000; Woods and Hollnagel, 2006). This law provides a guide to use past
findings on the reverberations of technology change to project how effective
leaders and operators will exploit the capabilities of future robotic systems.
When one applies the Law of Stretched Systems to new robotic capabilities for
demanding work settings, one begins to see new stories about how problem
holders work with and through robotic systems to accomplish goals. These are
not stories about machine autonomy and the substitution myth. Rather, the new
capabilities trigger the exploration of new story lines about future operations
that concern:
* how to coordinate activities over wider ranges,
* how to expand our perception and action over larger spans through remote
devices, and * how to project our intent into distant situations to achieve our goals. | |||
| Every body is somebody: The psychology and design of embodiment | | BIBA | Full-Text | 2 | |
| Clifford Nass | |||
| There is a long tradition in psychology asking the question, "how does a body affect how people think and respond?" There is a much smaller literature addressing the question, "how does having a body affect how people think about us and respond to us?" In this talk, I will discuss a series of experimental studies that are guided by the idea that an understanding of people's responses to other people can guide research on human-robot interaction. Questions to be addressed include: When should a robot say "I"? Should robots have body parts that do not operate like human body parts? When should robots use synthetic speech as compared to recorded speech? How should teams of robots interact with teams of people? How should robots respond to human error and their own errors? For each study, I will describe theory, methods, results, and application to design. | |||
| Daily HRI evaluation at a classroom environment: reports from dance interaction experiments | | BIBAK | Full-Text | 3-9 | |
| Fumihide Tanaka; Javier R. Movellan; Bret Fortenberry; Kazuki Aisaka | |||
| The design and development of social robots that interact and assist people
in daily life requires moving into unconstrained daily-life environments. This
presents unexplored methodological challenges to robotic researchers. Is it
possible, for example, to perform useful experiments in the uncontrolled
conditions of everyday life environments? How long do these studies need to be
to provide reliable results? What evaluations methods can be used?
In this paper we present preliminary results on a study designed to evaluate an algorithm for social robots in relatively uncontrolled, daily life conditions. The study was conducted as part of the RUBI project, whose goal is to design and develop social robots by immersion in the environment in which the robots are supposed to operate. First we found that in spite of the relative chaotic conditions and lack of control existing in the daily activities of a child-care center, it is possible to perform experiments in a relatively short period of time and with reliable results. We found that continuous audience response methods borrowed from marketing research provided good inter-observer reliabilities, in the order of 70%, and temporal resolution (the cut-off frequency is in the order of 1 cycle per minute) at low cost (evaluation is performed continuously in real time). We also experimented with objective behavioral descriptions, like tracking children's movement across a room. These approaches complemented each other and provided a useful picture of the temporal dynamics of the child-robot interaction, allowing us to gather baseline data for evaluating future systems. Finally, we also touch the ongoing study of behavior analysis through 3 months long-term child-robot interaction. Keywords: QRIO, child development, child education, child robot interaction, children,
daily HRI evaluation, engaging interaction, human robot interaction, long-term
interaction, social interaction | |||
| Development of a test bed for evaluating human-robot performance for explosive ordnance disposal robots | | BIBAK | Full-Text | 10-17 | |
| Jean Scholtz; Mary Theofanos; Brian Antonishek | |||
| This paper discusses the development of a test bed to evaluate the combined
performance of the human operator and an explosive ordnance disposal robot. We
have other means of evaluating the capabilities of the robots but for the
robots to be truly useful it is necessary to understand how effectively and
efficiently operators will be able to use these robots in critical situations.
In this paper we discuss the tasks developed for the test bed and how we are
going about development of the metrics for assessing the human-robot
performance and, more specifically, the human-robot user interface. Keywords: evaluation, explosive ordnance disposal robots, human-robot interaction,
metrics, test bed | |||
| Searching for a quantitative proxy for rover science effectiveness | | BIBAK | Full-Text | 18-25 | |
| Erin Pudenz; Geb Thomas; Justin Glasgow; Peter Coppin; David Wettergreen; Nathalie Cabrol | |||
| During two weeks of study in September and October of 2004, a science team
directed a rover and explored the arid Atacama Desert in Chile. The objective
of the mission was to search for life. Over the course of the mission the team
gained experience with the rover and the rover became more reliable and
autonomous. As a result, the rover/operator system became more effective.
Several factors likely contributed to the improvement in science effectiveness
including increased experience, more effective search strategies, different
science team composition, different science site locations, changes in rover
operational capabilities, and changes in the operation interface. However, it
is difficult to quantify this effectiveness because science is a largely
creative and unstructured task. This study considers techniques that quantify
science team performance leading to an understanding of which features of the
human-rover system are most effective and which features need further
development. Continuous observation of the scientists throughout the mission
led to coded transcripts enumerating each scientific statement. This study
considers whether six variables correlate with scientific effectiveness.
Several of these variables are metrics and ratios related to the daily rover
plan, the time spent programming the rover, the number of scientific statements
made and the data returned. The results indicate that the scientists created
more complex rover plans without increasing the time to create the plans. The
total number of scientific statements was approximately equal (2187 versus
2415) for each week. There was a 50% reduction in bytes of returned data
between the two weeks resulting in an increase in scientific statements per
byte of returned data ratio. Of the original six, the most successful proxies
for science effectiveness were the time to program each rover task and the
number of scientific statements related to data delivered by the rover.
Although both these measures have face validity and were consistent with the
results of this experiment, their ultimate empirical utility must be measured
further. Keywords: human robot interaction (HRI), mobile robots, remote rover exploration,
supervisory control, teleoperation interface | |||
| Human control of multiple unmanned vehicles: effects of interface type on execution and task switching times | | BIBAK | Full-Text | 26-32 | |
| Peter Squire; Greg Trafton; Raja Parasuraman | |||
| The number and type of unmanned vehicles sought in military operations
continues to grow. A critical consideration in designing these systems is
identifying interface types or interaction schemes that enhance an operator's
ability to supervise multiple unmanned vehicles. Past research has explored how
interface types impact overall performance measures (e.g. mission execution
time), but has not extensively examined other human performance factors that
might influence human-robot interaction. Within a dynamic military environment,
it is particularly important to assess how interfaces impact an operator's
ability to quickly adapt and alter the unmanned vehicle's tasking. To assess an
operator's ability to confront this changing environment, we explored the
impact of interface type on task switching. Research has shown performance
costs (i.e. increased time response) when individuals switch between different
tasks. Results from this study suggest that this task switching effect is also
seen when participants controlling multiple unmanned vehicles switch between
different strategies. Results also indicate that when utilizing a flexible
delegation interface, participants did not incur as large a switch cost effect
as they did when using an interface that allowed only the use of fixed
automated control of the unmanned vehicles. Keywords: automation, delegation, human-robot interaction, interruption, playbook,
task switching, unmanned vehicles | |||
| Common metrics for human-robot interaction | | BIBAK | Full-Text | 33-40 | |
| Aaron Steinfeld; Terrence Fong; David Kaber; Michael Lewis; Jean Scholtz; Alan Schultz; Michael Goodrich | |||
| This paper describes an effort to identify common metrics for task-oriented
human-robot interaction (HRI). We begin by discussing the need for a toolkit of
HRI metrics. We then describe the framework of our work and identify important
biasing factors that must be taken into consideration. Finally, we present
suggested common metrics for standardization and a case study. Preparation of a
larger, more detailed toolkit is in progress. Keywords: human-robot interaction, metrics, unmanned ground vehicles | |||
| The human-robot interaction operating system | | BIBAK | Full-Text | 41-48 | |
| Terrence Fong; Clayton Kunz; Laura M. Hiatt; Magda Bugajska | |||
| In order for humans and robots to work effectively together, they need to be
able to converse about abilities, goals and achievements. Thus, we are
developing an interaction infrastructure called the "uman-Robot Interaction
Operating System" (HRI/OS). The HRI/OS provides a structured software framework
for building human-robot teams, supports a variety of user interfaces, enables
humans and robots to engage in task-oriented dialogue, and facilitates
integration of robots through an extensible API. Keywords: human-robot interaction, interaction infrastructure, multi-agent system,
robot architecture | |||
| Developer oriented visualisation of a robot program | | BIBA | Full-Text | 49-56 | |
| T. H. J. Collett; B. A. MacDonald | |||
| Robot programmers are faced with the challenging problem of understanding the robot's view of its world, both when creating and when debugging robot software. As a result tools are created as needed in different laboratories for different robots and different applications. We discuss the requirements for effective interaction under these conditions, and propose an augmented reality approach to visualising robot input, output and state information, including geometric data such as laser range scans, temporal data such as the past robot path, conditional data such as possible future robot paths, and statistical data such as localisation distributions. The visualisation techniques must scale appropriately as robot data and complexity increases. Our current progress in developing a robot visualisation toolkit is presented. | |||
| Usability evaluation of an automated mission repair mechanism for mobile robot mission specification | | BIBAK | Full-Text | 57-63 | |
| Lilia Moshkina; Yoichiro Endo; Ronald C. Arkin | |||
| This paper describes a usability study designed to assess ease of use, user
satisfaction, and performance of a mobile robot mission specification system.
The software under consideration, MissionLab, allows users to specify a robot
mission as well as compile it, execute it, and control the robot in real-time.
In this work, a new automated mission repair mechanism that aids users in
correcting faulty missions was added to the system. This mechanism was compared
to an older version in order to better inform the development process, and set
a direction for future improvements in usability. Keywords: human-robot interaction, mission specification, usability study | |||
| Interaction debugging: an integral approach to analyze human-robot interaction | | BIBAK | Full-Text | 64-71 | |
| Tijn Kooijmans; Takayuki Kanda; Christoph Bartneck; Hiroshi Ishiguro; Norihiro Hagita | |||
| Along with the development of interactive robots, controlled experiments and
field trials are regularly conducted to stage human-robot interaction.
Experience in this field has shown that analyzing human-robot interaction for
evaluation purposes fosters the development of improved systems and the
generation of new knowledge. In this paper, we present the interaction
debugging approach, which is based on the collection and analysis of data from
robots and their environment. Considering the multimodality of robotic
technology, often only audio and video are insufficient for detailed analysis
of human-robot interaction. Therefore, in our analysis we integrate multimodal
information using audio, video, sensory data, and intermediate variables. An
important aspect of the interaction debugging approach is using a tool called
Interaction Debugger to analyze data. By supporting user-friendly data
presentation, annotation and navigation, Interaction Debugger enables
fine-grained inspection of human-robot interaction. The main goal of this paper
is to address how an integral approach to the analysis of human-robot
interaction can be adopted. This is demonstrated by three case studies. Keywords: analysis tool, integral approach, interaction, multimodal data | |||
| Changing shape: improving situation awareness for a polymorphic robot | | BIBAK | Full-Text | 72-79 | |
| Jill L. Drury; Holly A. Yanco; Whitney Howell; Brian Minten; Jennifer Casper | |||
| Polymorphic, or shape-shifting, robots can normally tackle more types of
tasks than non-polymorphic robots due to their flexible morphology. Their
versatility adds to the challenge of designing a human interface, however. To
investigate the utility of providing awareness information about the robot's
physical configuration (or "pose"), we performed a within-subjects experiment
with presence or absence of pose information being the independent variable. We
found that participants were more likely to tip the robot or have it ride up on
obstacles when they used the display that lacked pose information and also more
likely to move the robot to the highest position to become oriented. There was
no significant difference in the number of times that participants bumped into
obstacles, however, indicating that having more awareness of the robot's state
does not affect awareness of the robots' immediate surroundings. Participants
thought the display with pose information was easier to use, helped their
performance and was more enjoyable than having no pose information. Future
research directions point toward providing recommendations to robot operators
for which pose they should change to given the terrain to be traversed. Keywords: evaluation, human-robot interaction, interaction design, polymorphic robots,
shape-shifting robots, situation awareness | |||
| Attaining situational awareness for sliding autonomy | | BIBAK | Full-Text | 80-87 | |
| Brennan P. Sellner; Laura M. Hiatt; Reid Simmons; Sanjiv Singh | |||
| We are interested in the problems of a human operator who is responsible for
rapidly and accurately responding to requests for help from an autonomous
robotic construction team. A difficult aspect of this problem is gaining an
awareness of the requesting robot's situation quickly enough to avoid slowing
the whole team down. One approach to speeding the initial acquisition of
situational awareness is to maintain a buffer of data, and play it back for the
human when their help is needed. We report here on an experiment to determine
how the composition and length of this buffer affect the human's speed and
accuracy in our multi-robot construction domain. The experiments show that, for
our scenario, 5-10 seconds of one raw video feed led to the fastest operator
attainment of situational awareness, while accuracy was maximized by viewing 10
seconds of three video feeds. These results are necessarily specific to our
scenario, but we feel that they indicate general trends which may be of use in
other situations. We discuss the interacting effects of buffer composition and
length on operator speed and accuracy, and draw several conclusions from this
experiment which may generalize to other scenarios. Keywords: case study, situational awareness, sliding autonomy, user study | |||
| A decomposition of UAV-related situation awareness | | BIBAK | Full-Text | 88-94 | |
| Jill L. Drury; Laurel Riek; Nathan Rackliffe | |||
| This paper presents a fine-grained decomposition of situation awareness (SA)
as it pertains to the use of unmanned aerial vehicles (UAVs), and uses this
decomposition to understand the types of SA attained by operators of the Desert
Hawk UAV. Since UAVs are airborne robots, we adapt a definition previously
developed for human-robot awareness after learning about the SA needs of
operators through observations and interviews. We describe the applicability of
UAV-related SA for people in three roles: UAV operators, air traffic
controllers, and pilots of manned aircraft in the vicinity of UAVs. Using our
decomposition, UAV interaction designers can specify SA needs and analysts can
evaluate a UAV interface's SA support with greater precision and specificity
than can be attained using other SA definitions. Keywords: evaluation, interaction design, situation awareness, unmanned aerial
vehicles (UAVs), user interaction requirements | |||
| Comparing the usefulness of video and map information in navigation tasks | | BIBAK | Full-Text | 95-101 | |
| Curtis W. Nielsen; Michael A. Goodrich | |||
| One of the fundamental aspects of robot teleoperation is the ability to
successfully navigate a robot through an environment. We define successful
navigation to mean that the robot minimizes collisions and arrives at the
destination in a timely manner. Often video and map information is presented to
a robot operator to aid in navigation tasks. This paper addresses the
usefulness of map and video information in a navigation task by comparing a
side-by-side (2D) representation and an integrated (3D) representation in both
a simulated and a real world study. The results suggest that sometimes video is
more helpful than a map and other times a map is more helpful than video. From
a design perspective, an integrated representation seems to help navigation
more than placing map and video side-by-side. Keywords: HRI, human robot interaction, information presentation, integrated display,
user studies | |||
| FOCUS: a generalized method for object discovery for robots that observe and interact with humans | | BIBAK | Full-Text | 102-109 | |
| Manuela M. Veloso; Paul E. Rybski; Felix von Hundelshausen | |||
| The essence of the signal-to-symbol problem consists of associating a
symbolic description of an object (e.g., a chair) to a signal (e.g., an image)
that captures the real object. Robots that interact with humans in natural
environments must be able to solve this problem correctly and robustly.
However, the problem of providing complete object models a priori to a robot so
that it can understand its environment from any viewpoint is extremely
difficult to solve. Additionally, many objects have different uses which in
turn can cause ambiguities when a robot attempts to reason about the activities
of a human and their interactions with those objects. In this paper, we build
upon the fact that robots that co-exist with humans should have the ability of
observing humans using the different objects and learn the corresponding object
definitions. We contribute an object recognition algorithm, FOCUS, that is
robust to the variations of signals, combines structure and function of an
object, and generalizes to multiple similar objects. FOCUS, which stands for
Finding Object Classification through Use and Structure, combines an activity
recognizer capable of capturing how an object is used with a traditional visual
structure processor. FOCUS learns structural properties (visual features) of
objects by knowing first the object's affordance properties and observing
humans interacting with that object with known activities. The strength of the
method relies on the fact that we can define multiple aspects of an object
model, i.e., structure and use, that are individually robust but insufficient
to define the object, but can do when combined. Keywords: functional object recognition, learning by demonstration | |||
| Using context and sensory data to learn first and second person pronouns | | BIBAK | Full-Text | 110-117 | |
| Kevin Gold; Brian Scassellati | |||
| We present a method of grounded word learning that can learn the meanings of
first and second person pronouns. The model selectively associates new words
with agents in the environment by using already understood words to establish
context. The method uses chi-square tests to find significant associations
between the new words and attributes of the relevant agents. We show that this
model can learn from a transcript of a parent-child interaction that "I" refers
to the person who is speaking. With the additional information that questions
about wants refer to the person being asked about them, the system learns that
"you" refers to the person being addressed. We show that an incorrect
assumption about the subject of "want" questions can lead to pronoun reversal,
a linguistic error most commonly found in autistic and congenitally blind
children. Finally, we present results from a physical implementation on a robot
that runs in real time. Keywords: autism, deixis, humanoid robot, natural language, pronoun reversal,
pronouns, real-time, word learning | |||
| Teaching robots by moulding behavior and scaffolding the environment | | BIBAK | Full-Text | 118-125 | |
| Joe Saunders; Chrystopher L. Nehaniv; Kerstin Dautenhahn | |||
| Programming robots to carry out useful tasks is both a complex and
non-trivial exercise. A simple and intuitive method to allow humans to train
and shape robot behaviour is clearly a key goal in making this task easier.
This paper describes an approach to this problem based on studies of social
animals where two teaching strategies are applied to allow a human teacher to
train a robot by moulding its actions within a carefully scaffolded
environment. Within these environments sets of competences can be built by
building stateslash action memory maps of the robot's interaction within that
environment. These memory maps are then polled using a k-nearest neighbour
based algorithm to provide a generalised competence. We take a novel approach
in building the memory models by allowing the human teacher to construct them
in a hierarchical manner. This mechanism allows a human trainer to build and
extend an action-selection mechanism into which new skills can be added to the
robot's repertoire of existing competencies. These techniques are implemented
on physical Khepera miniature robots and validated on a variety of tasks. Keywords: imitation, memory-based learning, scaffolding, social robotics, teaching,
zone of proximal development | |||
| Effects of adaptive robot dialogue on information exchange and social relations | | BIBAK | Full-Text | 126-133 | |
| Cristen Torrey; Aaron Powers; Matthew Marge; Susan R. Fussell; Sara Kiesler | |||
| Human-robot interaction could be improved by designing robots that engage in
adaptive dialogue with users. An adaptive robot could estimate the information
needs of individuals and change its dialogue to suit these needs. We test the
value of adaptive robot dialogue by experimentally comparing the effects of
adaptation versus no adaptation on information exchange and social relations.
In Experiment 1, a robot chef adapted to novices by providing detailed
explanations of cooking tools; doing so improved information exchange for
novice participants but did not influence experts. Experiment 2 added
incentives for speed and accuracy and replicated the results from Experiment 1
with respect to information exchange. When the robot's dialogue was adapted for
expert knowledge (names of tools rather than explanations), expert participants
found the robot to be more effective, more authoritative, and less patronizing.
This work suggests adaptation in human-robot interaction has consequences for
both task performance and social cohesion. It also suggests that people may be
more sensitive to social relations with robots when under task or time
pressure. Keywords: adaptive dialogue, collaboration, common ground, human-robot communication,
human-robot interaction, perspective taking, social robots | |||
| Evaluation of robot imitation attempts: comparison of the system's and the human's perspectives | | BIBAK | Full-Text | 134-141 | |
| Aris Alissandrakis; Chrystopher L. Nehaniv; Kerstin Dautenhahn; Joe Saunders | |||
| Imitation is a powerful learning tool when humans and robots interact in a
social context. A series of experimental runs and a small pilot user study were
conducted to evaluate the performance of a system designed for robot imitation.
Performance assessments of similarity of imitative behaviours were carried out
by machines and by humans: the system was evaluated quantitatively (from a
machine-centric perspective) and qualitatively (from a human perspective) in
order to study the reconciliation of these views. The experimental results
presented here illustrate how the number of exceptions can be used as a
performance measure by a robotic or software imitator of an object manipulation
behaviour. (In this context, exceptions are events when the optimal
displacement and/or rotation that minimize the dissimilarity metrics used to
generate a corresponding imitative behaviour cannot be directly achieved in the
particular context.) Results of the user study giving similarity judgments on
imitative behaviours were used to examine how the quantitative measure of the
number of exceptions (from a robot's perspective) corresponds to the
qualitative evaluation of similarity (from a human's perspective) for the
imitative behaviours generated by the jabberwocky system. Results suggest that
there is a good alignment between this quantitive system centered assessment
and the more qualitative human-centered assessment of imitative performance. Keywords: human-robot interaction, imitation and social learning, programming by
demonstration | |||
| Ergonomics-for-one in a robotic shopping cart for the blind | | BIBAK | Full-Text | 142-149 | |
| Vladimir A. Kulyukin; Chaitanya Gharpure | |||
| Assessment and design frameworks for human-robot teams attempt to maximize
generality by covering a broad range of potential applications. In this paper,
we argue that, in assistive robotics, the other side of generality is limited
applicability: it is oftentimes more feasible to custom-design and evolve an
application that alleviates a specific disability than to spend resources on
figuring out how to customize an existing generic framework. We present a case
study that shows how we used a pure bottom-up learn-through-deployment approach
inspired by the principles of ergonomics-for-one to design, deploy and
iteratively re-design a proof-of-concept robotic shopping cart for the blind. Keywords: assistive robotics, assistive technology, ergonomics-for-one, navigation and
wayfinding for the blind | |||
| Encouraging physical therapy compliance with a hands-Off mobile robot | | BIBAK | Full-Text | 150-155 | |
| Rachel Gockley; Maja J. MatariC | |||
| This paper presents results toward our ongoing research program into
hands-off assistive human-robot interaction [6]. Our work has focused on
applications of socially assistive robotics in health care and education, where
human supervision can be significantly augmented and complemented by
intelligent machines. In this paper, we focus on the role of embodiment,
empirically addressing the question: "In what ways can the robot's physical
embodiment be used effectively to positively influence human task-related
behavior?" We hypothesized that users' personalities would correlate with their
preferences of robot behavior expression. To test this hypothesis, we
implemented an autonomous mobile robot aimed at the role of a monitoring and
encouragement system for stroke patient rehabilitation. We performed a pilot
study that indicates that the presence and behavior of the robot can influence
how well people comply with their physical therapy. Keywords: embodiment, human-robot interaction, physical therapy, psychology, social
robots, stroke recovery | |||
| Spatial routines for a simulated speech-controlled vehicle | | BIBAK | Full-Text | 156-163 | |
| Stefanie Tellex; Deb Roy | |||
| We have defined a lexicon of words in terms of spatial routines, and used
that lexicon to build a speech controlled vehicle in a simulator. A spatial
routine is a script composed from a set of primitive operations on occupancy
grids, analogous to Ullman's visual routines. The vehicle understands the
meaning of context-dependent natural language commands such as "Go across the
room." When the system receives a command, it combines definitions from the
lexicon according to the parse structure of the command, creating a script that
selects a goal for the vehicle. Spatial routines may provide the basis for
interpreting spatial language in a broad range of physically situated language
understanding systems. Keywords: language grounding, situated language processing, spatial language, spatial
routines, visual routines, wheelchair | |||
| On natural language dialogue with assistive robots | | BIBAK | Full-Text | 164-171 | |
| Vladimir A. Kulyukin | |||
| This paper examines the appropriateness of natural language dialogue (NLD)
with assistive robots. Assistive robots are defined in terms of an existing
human-robot interaction taxonomy. A decision support procedure is outlined for
assistive technology researchers and practitioners to evaluate the
appropriateness of NLD in assistive robots. Several conjectures are made on
when NLD may be appropriate as a human-robot interaction mode. Keywords: assistive robotics, assistive technology, natural language dialogue | |||
| How may I serve you?: a robot companion approaching a seated person in a helping context | | BIBAK | Full-Text | 172-179 | |
| K. Dautenhahn; M. Walters; S. Woods; K. L. Koay; C. L. Nehaniv; A. Sisbot; R. Alami; T. Siméon | |||
| This paper presents the combined results of two studies that investigated
how a robot should best approach and place itself relative to a seated human
subject. Two live Human Robot Interaction (HRI) trials were performed involving
a robot fetching an object that the human had requested, using different
approach directions. Results of the trials indicated that most subjects
disliked a frontal approach, except for a small minority of females, and most
subjects preferred to be approached from either the left or right side, with a
small overall preference for a right approach by the robot. Handedness and
occupation were not related to these preferences. We discuss the results of the
user studies in the context of developing a path planning system for a mobile
robot. Keywords: human-robot interaction, live interactions, personal spaces, social robot,
social spaces, user trials | |||
| Effects of head movement on perceptions of humanoid robot behavior | | BIBAK | Full-Text | 180-185 | |
| Emily Wang; Constantine Lignos; Ashish Vatsal; Brian Scassellati | |||
| This paper examines human perceptions of humanoid robot behavior,
specifically how perception is affected by variations in head tracking behavior
under constant gestural behavior. Subjects were invited to the lab to "play
with Nico," an upper-torso humanoid robot. The follow-up survey asked subjects
to rate and write about the experience. A coding scheme originally created to
gauge human intentionality was applied to written responses to measure the
level of intentionality that subjects perceived in the robot. Subjects were
presented with one of four variations of head movement: a motionless head, a
smooth tracking head, a tracking head without smoothed movements, and an
avoidance behavior, while a pre-scripted wave and beckon sequence was carried
out in all cases. Surprisingly, subjects rated the interaction as most
enjoyable and Nico as possessing more intentionality when avoidance and
unsmooth tracking were used. These data suggest that naïve users of robots
may prefer caricatured and exaggerated behaviors to more natural ones. Also,
correlations between ratings across modes suggest that simple features of robot
behavior reliably evoke notable changes in many perception scales. Keywords: coding scheme, head tracking behavior, intentionality | |||
| Interactions with a moody robot | | BIBAK | Full-Text | 186-193 | |
| Rachel Gockley; Jodi Forlizzi; Reid Simmons | |||
| This paper reports on the results of a long-term experiment in which a
social robot's facial expressions were changed to reflect different moods.
While the facial changes in each condition were not extremely different, they
still altered how people interacted with the robot. On days when many visitors
were present, average interactions with the robot were longer when the robot
displayed either a "happy" or a "sad" expression instead of a neutral face, but
the opposite was true for low-visitor days. The implications of these findings
for human-robot social interaction are discussed. Keywords: affective modeling, emotions, human-robot interaction, moods, psychology,
social robots | |||
| Empirical results from using a comfort level device in human-robot interaction studies | | BIBAK | Full-Text | 194-201 | |
| K. L. Koay; K. Dautenhahn; S. N. Woods; M. L. Walters | |||
| This paper describes an extensive analysis of the comfort level data of 7
subjects with respect to 12 robot behaviours as part of a human-robot
interaction trial. This includes robot action, proximity and motion relative to
the subjects. Two researchers coded the video material, identifying visible
states of discomfort displayed by subjects in relation to the robot's
behaviour. Agreement between the coders varied from moderate to high, except
for more ambiguous situations involving robot approach directions. The detected
visible states of discomfort were correlated with the situations where the
comfort level device (CLD) indicated states of discomfort. Results show that
the uncomfortable states identified by both coders, and by either of the coders
corresponded with 31% and 64% of the uncomfortable states identified by the
subjects' CLD data (N=58), respectively. Conversely there was 72% agreement
between subjects' CLD data and the uncomfortable states identified by both
coders (N=25). Results show that the majority of the subjects expressed
discomfort when the robot blocked their path or was on a collision course
towards them, especially when the robot was within 3 meters proximity. Other
observations include that the majority of subjects experienced discomfort when
the robot was closer than 3m, within the social zone reserved for human-human
face to face conversation, while they were performing a task. The advantages
and disadvantages of the CLD in comparison to other techniques for assessing
subjects' internal states are discussed and future work concludes the paper. Keywords: comfort level device, human-robot interaction, social interaction, social
robot | |||
| An investigation of real world control of robotic assets under communication latency | | BIBAK | Full-Text | 202-209 | |
| Jason P. Luck; Patricia L. McDermott; Laurel Allender; Deborah C. Russell | |||
| Robots are already being used in a variety of applications, including the
military battlefield. As robotic technology continues to advance, those
applications will increase, as will the demands on the associated network
communication links. Two experiments investigated the effects of communication
latency on the control of a robot across four Levels Of Automation (LOAs), (1)
full teleoperation, (2) guarded teleoperation, (3) autonomous obstacle
avoidance, and (4) full autonomy. Latency parameters studied included latency
duration, latency variability, and the "direction" in which the latency occurs,
that is from user-to-robot or from robot-to-user. The results indicate that the
higher the LOA, the better the performance in terms of both time and number of
errors made, and also the more resistant to the degrading effects of latency.
Subjective reports confirmed these findings. Implications of constant vs.
variable-latency, user-to-robot vs. robot-to-user latency, and latency duration
are also discussed. Keywords: communication, control, and level of automation, delay, latency, robotics,
teleoperation | |||
| Effective team-driven multi-model motion tracking | | BIBAK | Full-Text | 210-217 | |
| Yang Gu; Manuela Veloso | |||
| Autonomous robots use sensors to perceive and track objects in the world.
Tracking algorithms use object motion models to estimate the position of a
moving object. Tracking efficiency completely depends on the accuracy of the
motion model and of the sensory information. Interestingly, when the robots can
actuate the object being tracked, the motion can become highly discontinuous
and nonlinear. We have previously developed a successful tracking approach that
effectively switches among object motion models as a function of the robot's
actions. If the object to be tracked is actuated by a team, the set of motion
models is quite more complex. In this paper, we report on a tracking approach
that can use a dynamic multiple motion model based on a team coordination plan.
We present the multi-model probabilistic tracking algorithms in detail and
present empirical results both in simulation and real robot test. Our physical
team is composed of a robot and a human in a real Segway soccer game scenario.
We show how the coordinated plan allows the robot to better track a mobile
object through the effective interaction with its human teammate. Keywords: motion modelling, multi-model, team-driven, tracking | |||
| The advisor robot: tracing people's mental model from a robot's physical attributes | | BIBAK | Full-Text | 218-225 | |
| Aaron Powers; Sara Kiesler | |||
| Humanoid robots offer many physical design choices such as voice frequency
and head dimensions. We used hierarchical statistical mediation analysis to
trace differences in people's mental model of robots from these choices. In an
experiment, a humanoid robot gave participants online advice about their
health. We used mediation analysis to identify the causal path from the robot's
voice and head dimensions to the participants' mental model, and to their
willingness to follow the robot's advice. The male robot voice predicted
impressions of a knowledgeable robot, whose advice participants said they would
follow. Increasing the voice's fundamental frequency reduced this effect. The
robot's short chin length (but not its forehead dimensions) predicted
impressions of a sociable robot, which also predicted intentions to take the
robot's advice. We discuss the use of this approach for designing robots for
different roles, when people's mental model of the robot matters. Keywords: dialogue, gender, human-robot interaction, humanoids, knowledge estimation,
mental model, perception, social robots | |||
| The utility of affect expression in natural language interactions in joint human-robot tasks | | BIBAK | Full-Text | 226-233 | |
| Matthias Scheutz; Paul Schermerhorn; James Kramer | |||
| Recognizing and responding to human affect is important in collaborative
tasks in joint human-robot teams. In this paper we present an integrated affect
and cognition architecture for HRI and report results from an experiment with
this architecture that shows that expressing affect and responding to human
affect with affect expressions can significantly improve team performance in a
joint human-robot task. Keywords: affect, distributed affect architecture, human robot teams, joint
human-robot tasks | |||
| Analysis of human behavior to a communication robot in an open field | | BIBAK | Full-Text | 234-241 | |
| Shogo Nabe; Takayuki Kanda; Kazuo Hiraki; Hiroshi Ishiguro; Kiyoshi Kogure; Norihiro Hagita | |||
| This paper investigates human behavior around an interactive robot at a
science museum. To develop a communication robot that works in daily
environments, it is important to investigate the available information from a
robot about people's behavior. Such information will enable the robot to
predict people's behavior so that the robot can optimize its interactive
behavior. We analyzed visitor behavior toward a simple interactive robot
exhibited at a science museum in relation to information from sound level and
range sensors. We discovered factors that influence the way people approach,
maintain distance, and interact both physically and verbally with the robot.
This enabled us to extract meaningful information from the sensory information
and apply it to communication robots. Keywords: analysis of human behavior, communication robot, field trial, psychology | |||
| Children and robots learning to play hide and seek | | BIBAK | Full-Text | 242-249 | |
| J. Gregory Trafton; Alan C. Schultz; Dennis Perznowski; Magdalena D. Bugajska; William Adams; Nicholas L. Cassimatis; Derek P. Brock | |||
| How do children learn how to play hide and seek? At age 3-4, children do not
typically have perspective taking ability, so their hiding ability should be
extremely limited. We show through a case study that a 3 1/2 year old child
can, in fact, play a credible game of hide and seek, even though she does not
seem to have perspective taking ability. We propose that children are able to
learn how to play hide and seek by learning the features and relations of
objects (e.g., containment, under) and use that information to play a credible
game of hide and seek. We model this hypothesis within the ACT-R cognitive
architecture and put the model on a robot, which is able to mimic the child's
hiding behavior. We also take the "hiding" model and use it as the basis for a
"seeking" model. We suggest that using the same representations and procedures
that a person uses allows better interaction between the human and robotic
system. Keywords: cognitive modeling, hide and seek, human-robot interaction | |||
| Effective user interface design for rescue robotics | | BIBAK | Full-Text | 250-257 | |
| M. Waleed Kadous; Raymond Ka-Man Sheh; Claude Sammut | |||
| Until robots are able to autonomously navigate, carry out a mission and
report back to base, effective human-robot interfaces will be an integral part
of any practical mobile robot system. This is especially the case for
robot-assisted Urban Search and Rescue (USAR). Unfamiliar and unstructured
environments, unreliable communications and many sensors combine to make the
job of a human operator, and hence the interface designer challenging.
This paper presents the design, implementation and deployment of a human-robot interface for the teleoperated USAR research robot, textsfCASTER. Proven HCI-based user interface design principles were adopted in order to produce an interface that was intuitive and minimised learning time while maximising effectiveness. The human-robot interface was deployed by Team CASualty in the 2005 RoboCup Rescue Robot League competition. This competition allows a wide variety of approaches to USAR research to be evaluated in a realistic environment. Despite the operator having less than one month of experience, Team CASualty came 3rd, beating teams that had far longer to train their operators. In particular, the ease with which the robot could be driven and high quality information gathered played a crucial part in Team CASualty's success. Further empirical evaluations of the system on a group of twelve users as well as members of the public further reinforce our belief that this interface is quick to learn, easy to use and effective. Keywords: human robot interface, rescue robot design, user interface design | |||
| Service robots in the domestic environment: a study of the roomba vacuum in the home | | BIBAK | Full-Text | 258-265 | |
| Jodi Forlizzi; Carl DiSalvo | |||
| Domestic service robots have long been a staple of science fiction and
commercial visions of the future. Until recently, we have only been able to
speculate about what the experience of using such a device might be. Current
domestic service robots, introduced as consumer products, allow us to make this
vision a reality.
This paper presents ethnographic research on the actual use of these products, to provide a grounded understanding of how design can influence human-robot interaction in the home. We used an ecological approach to broadly explore the use of this technology in this context, and to determine how an autonomous, mobile robot might "fit" into such a space. We offer initial implications for the design of these products: first, the way the technology is introduced is critical; second, the use of the technology becomes social; and third, that ideally, homes and domestic service robots must adapt to each other. Keywords: design research, domestic robots, ethnography, human-robot interaction
design | |||
| A video game-based framework for analyzing human-robot interaction: characterizing interface design in real-time interactive multimedia applications | | BIBAK | Full-Text | 266-273 | |
| Justin Richer; Jill L. Drury | |||
| There is growing interest in mining the world of video games to find
inspiration for human-robot interaction (HRI) design. This paper segments video
game interaction into domain-independent components which together form a
framework that can be used to characterize real-time interactive multimedia
applications in general and HRI in particular. We provide examples of using the
components in both the video game and the Unmanned Aerial Vehicle (UAV) domains
(treating UAVs as airborne robots). Beyond characterization, the framework can
be used to inspire new HRI designs and compare different designs; we provide an
example comparison of two UAV ground station applications. Keywords: HRI, UAVs, evaluation, human-robot interaction, interaction design, unmanned
aerial vehicles | |||
| User, robot and automation evaluations in high-throughput biological screening processes | | BIBAK | Full-Text | 274-281 | |
| Noa Segall; Rebecca S. Green; David B. Kaber | |||
| This paper introduces high-throughput screening of biological samples in
life sciences, as a domain for analysis of human-robot interaction (HRI) and
development of usable human interface design principles. High-throughput
screening (HTS) processes involve use of robotics and highly automated
analytical measurement devices to transport and chemically evaluate biological
compounds for potential use as drug derivatives. Humans act as supervisory
controllers in HTS processes by performing test planning and device programming
prior to experiments, systems monitoring, and real-time process intervention
and error correction to maintain experiment safety and output. Process errors
are infrequent but can be costly. Two forms of cognitive task analysis were
applied to a highly automated HTS process to address different classes of
errors, including goal-directed task analysis to describe critical operator
decisions and information requirements and abstraction hierarchy modeling to
represent HTS process devices and automation integrated in screening lines. The
outcomes of the analyses were used as bases for generating supervisory control
interface design recommendations to improve existing system usefulness and
usability. Keywords: abstraction hierarchy modeling, cognitive task analysis, goal-directed task
analysis, high-throughput screening, human error | |||
| Clarification dialogues in human-augmented mapping | | BIBAK | Full-Text | 282-289 | |
| Geert-Jan M. Kruijff; Hendrik Zender; Patric Jensfelt; Henrik I. Christensen | |||
| An approach to dialogue based interaction for resolution of ambiguities
encountered as part of Human-Augmented Mapping (HAM) is presented. The paper
focuses on issues related to spatial organisation and localisation. The
dialogue pattern naturally arises as robots are introduced to novel
environments. The paper discusses an approach based on the notion of Questions
under Discussion (QUD). The presented approach has been implemented on a mobile
platform that has dialogue capabilities and methods for metric SLAM.
Experimental results from a pilot study clearly demonstrate that the system can
resolve problematic situations. Keywords: clarification, human-augmented mapping, mixed initiative, natural language
dialogue | |||
| The effect of head-nod recognition in human-robot conversation | | BIBAK | Full-Text | 290-296 | |
| Candace L. Sidner; Christopher Lee; Louis-Philippe Morency; Clifton Forlines | |||
| This paper reports on a study of human participants with a robot designed to
participate in a collaborative conversation with a human. The purpose of the
study was to investigate a particular kind of gestural feedback from human to
the robot in these conversations: head nods. During these conversations, the
robot recognized head nods from the human participant. The conversations
between human and robot concern demonstrations of inventions created in a lab.
We briefly discuss the robot hardware and architecture and then focus the paper
on a study of the effects of understanding head nods in three different
conditions. We conclude that conversation itself triggers head nods by people
in human-robot conversations and that telling participants that the robot
recognizes their nods as well as having the robot provide gestural feedback of
its nod recognition is effective in producing more nods. Keywords: collaborative conversation, conversational feedback, human-robot
interaction, nod recognition, nodding | |||
| Working with robots and objects: revisiting deictic reference for achieving spatial common ground | | BIBAK | Full-Text | 297-304 | |
| Andrew G. Brooks; Cynthia Breazeal | |||
| Robust joint visual attention is necessary for achieving a common frame of
reference between humans and robots interacting multimodally in order to work
together on real-world spatial tasks involving objects. We make a comprehensive
examination of one component of this process that is often otherwise
implemented in an ad hoc fashion: the ability to correctly determine the object
referent from deictic reference including pointing gestures and speech. From
this we describe the development of a modular spatial reasoning framework based
around decomposition and resynthesis of speech and gesture into a language of
pointing and object labeling. This framework supports multimodal and unimodal
access in both real-world and mixed-reality workspaces, accounts for the need
to discriminate and sequence identical and proximate objects, assists in
overcoming inherent precision limitations in deictic gesture, and assists in
the extraction of those gestures. We further discuss an implementation of the
framework that has been deployed on two humanoid robot platforms to date. Keywords: human-robot interaction, multimodal interfaces, natural gesture
understanding, spatial behavior | |||
| Interactive humanoid robots for a science museum | | BIBAK | Full-Text | 305-312 | |
| Masahiro Shiomi; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| This paper reports on a field trial with interactive humanoid robots at a
science museum where visitors are supposed to study and develop an interest in
science. In the trial, each visitor wore an RFID tag while looking around the
museum's exhibits. Information obtained from the RFID tags was used to direct
the robots' interaction with the visitors. The robots autonomously interacted
with visitors via gestures and utterances resembling the free play of children
[1]. In addition, they performed exhibit-guiding by moving around several
exhibits and explaining the exhibits based on sensor information. The robots
were highly evaluated by visitors during the two-month trial. Moreover, we
conducted an experiment in the field trial to compare the detailed effects of
exhibit-guiding and free-play interaction under three operating conditions.
This revealed that the combination of the free-play interaction and
exhibit-guiding positively affected visitors' experiences at the science
museum. Keywords: commutation robot, field trial, human-robot interaction, science museum
robot | |||
| How contingent should a communication robot be? | | BIBAK | Full-Text | 313-320 | |
| Fumitaka Yamaoka; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| The purpose of our research is to develop lifelike behavior in a
communication robot, which is expected to potentially make human-robot
interaction more natural. Our earlier research demonstrated the importance of a
robot's contingency for lifelikeness [1]. On the other hand, perfect
contingency seems to give us a non-lifelike impression. In order to explore the
appropriate contingency for communication robots, we developed a robot system
that allows us to adjust its contingency to an interacting person in a simple
mimic interaction. As a result of an experiment, we identified the
relationships between the degree of contingency and the subjective impressions
of lifelikeness, autonomy, and preference. However, the experimental result
also seems to suggest the importance of the complexity of interaction for
investigating the appropriate contingency of communication robots. Keywords: communication robot, contingency, human-robot interaction, lifelike behavior | |||
| The first segway soccer experience: towards peer-to-peer human-robot teams | | BIBAK | Full-Text | 321-322 | |
| Brenna Argall; Yang Gu; Brett Browning; Manuela Veloso | |||
| In this paper, we focus on human-robot interaction in a team task where we
identify the need for peer-to-peer (P2P) teamwork, with no fixed hierarchy for
decision making between robots and humans. Instead, all team members are equal
participants and decision making is truly distributed. We have fully developed
a P2P team within Segway Soccer, a research domain, built upon Robocup robot
soccer, that we have introduced to explore the challenge of P2P coordination in
human-robot teams with dynamic, adversarial tasks. We recently participated in
the first Segway Soccer games between two competing teams at the 2005 RoboCup
US Open. We believe these games are the first ever between two human-robot P2P
teams. Based on the competition, we realized two different approaches to P2P
teams. We present our robot-centric approach to P2P team coordination and
contrast it to the human-centric approach of the opponent team. Keywords: human-robot teams, segway soccer | |||
| Gesture-based control of highly articulated biomechatronic systems | | BIBAK | Full-Text | 323-324 | |
| Zhiqiang Luo; I-Ming Chen; Shusong Xing; Henry Been-Lirn Duh | |||
| A robotic puppet is developed for studying motion generation and control of
highly articulated biomimic mechatronic systems with anatomical motion data of
human in real time. The system is controlled by a pair of data gloves tracking
human fingers' actions. With the primitives designed in a multilayered motion
synthesis structure, the puppet can realize some complex human-like actions.
Continuous full body movements are produced on the robotic puppet by combining
and sequencing the actions on different body parts using temporal and spatial
information provided by the data gloves. Human is involved in the interactive
design of the coordination and timing of the body movements of the robotic
puppet in a natural and intuitive manner. The methods of motion generation
exhibited on the robotic puppet may be applied to the interactive media,
entertainment and biomedical engineering. Keywords: biomechatronic system, human-robot interface, multilayered motion synthesis,
robotic puppet | |||
| Human telesupervision of a fleet of autonomous robots for safe and efficient space exploration | | BIBAK | Full-Text | 325-326 | |
| Gregg Podnar; John Dolan; Alberto Elfes; Marcel Bergerman; H. Benjamin Brown; Alan D. Guisewite | |||
| In January 2004, NASA began a bold enterprise to return to the Moon, and
with the technologies and expertise gained, press on to Mars. The underlying
Vision for Space Exploration calls for a sustained and affordable human and
robotic program to explore the solar system and beyond; to conduct human
expeditions to Mars after successfully demonstrating sustained human
exploration missions on the Moon. The approach is to "send human and robotic
explorers as partners, leveraging the capabilities of each where most useful."
Human-robot interfacing technologies for this approach are required at
readiness levels above any available today. In this paper, we describe the HRI
aspects of a robot supervision architecture we are developing under NASA's
auspices, based on the authors' extensive experience with field deployment of
ground, underwater, lighter-than-air, and inspection autonomous and
semi-autonomous robotic vehicles and systems. Keywords: autonomous navigation, field deployment, robot supervision architecture,
technology readiness, teleoperation, telepresence | |||
| Affective expression in appearance constrained robots | | BIBK | Full-Text | 327-328 | |
| Cindy L. Bethel; Robin R. Murphy | |||
Keywords: affective computing, human-robot interaction, proxemics | |||
| 3-D modeling of spatial referencing language for human-robot interaction | | BIBAK | Full-Text | 329-330 | |
| Samuel Blisard; Marjorie Skubic; Robert H., III Luke; James M. Keller | |||
| One of the key components for natural interaction between humans and robots
is the ability to understand the spatial relationships that exist in the
natural world. Previous research has shown that modeling the 2D spatial
relationships of FRONT, BEHIND, LEFT, RIGHT, and BETWEEN can be accomplished
with results consistent with that of a human being. Upcoming research will
involve a human subject study to investigate the use of spatial relationships
in 3D space. This will be the first step in extending previous research of the
2D spatial relations into a 3D representation through the use of 3D object
point clouds generated by the SIFT algorithm and stereo vision. This will allow
for the enrichment of our human-robot dialog to include phrases such as "Bring
me the coffee cup on top of the desk and to the right of the computer. Keywords: human-robot interaction, spatial language, spatial reasoning, stereo vision | |||
| The art of designing robot faces: dimensions for human-robot interaction | | BIBAK | Full-Text | 331-332 | |
| Mike Blow; Kerstin Dautenhahn; Andrew Appleby; Chrystopher L. Nehaniv; David Lee | |||
| As robots enter everyday life and start to interact with ordinary people
[5]the question of their appearance becomes increasingly important. A user's
perception of a robot can be strongly influenced by its facial appearance [6].
The dimensions and issues of face design are illustrated in the design
rationale, details of construction and intended uses of a new minimal
expressive robot called KASPAR. Keywords: human-robot interaction, robot face design | |||
| Dynamic leadership for human-robot teams | | BIBA | Full-Text | 333-334 | |
| Douglas A. Few; David J. Bruemmer; Miles C. Walton | |||
| This paper evaluates collaborative tasking tools that facilitate dynamic sharing of responsibilities between robot and operator throughout a search and detection task Participants who utilize Collaborative Tasking Mode (CTM) do not experience a significant performance penalty, yet benefit from reduced workload and fewer instances of confusion. In addition, CTM participants report a higher overall feeling of control as compared to those using Standard Shared Mode. | |||
| Affective feedback in closed loop human-robot interaction | | BIBK | Full-Text | 335-336 | |
| Pramila Rani; Changchun Liu; Nilanjan Sarkar | |||
Keywords: affective computing, anxiety, human-robot interaction | |||
| Shaping human behavior by observing mobility gestures | | BIB | Full-Text | 337-338 | |
| David Feil-Seifer; A Maja J. MatariC | |||
| Commonality of control paradigms for unmanned systems | | BIBAK | Full-Text | 339-340 | |
| Marc Gacy; David Dahn | |||
| One of the technical thrusts within the Robotics Collaborative Technology
Alliance (CTA) from the Army Research Laboratory has been to design, build, and
experiment with new concept control systems that will allow a single human to
simultaneously control multiple unmanned ground and air vehicles. We have
developed both vehicle mounted and dismounted controllers that all provide a
similar look and feel, with relatively equivalent control capabilities. The
similarity in capabilities includes not only support functions such as map
management and reporting, but the actual planning, tasking and control of the
unmanned systems including small unmanned ground vehicles (SUGV), larger
unmanned ground vehicles (UGV) and unmanned air vehicles (UAV). Keywords: HRI applications, HRI for heterogeneous teams, interface and autonomy
design, mixed initiative interaction | |||
| A model for imitating human reaching movements | | BIBA | Full-Text | 341-342 | |
| Micha Hersch; Aude G. Billard | |||
| We present a model of human-like reaching movements. This model is then used to give a humanoid robot the ability to imitate human reaching motions. It illustrates that having a robot control similar to human control can greatly ease the human-robot interaction. | |||
| Structural descriptions in human-assisted robot visual learning | | BIBAK | Full-Text | 343-344 | |
| Geert-Jan M. Kruijff; John D. Kelleher; Gregor Berginc; Ales Leonardis | |||
| The paper presents an approach to using structural descriptions, obtained
through a human-robot tutoring dialogue, as labels for the visual object models
a robot learns. The paper shows how structural descriptions enable relating
models for different aspects of one and the same object, and how being able to
relate descriptions for visual models and discourse referents enables
incremental updating of model descriptions through dialogue (either robot- or
human initiated). The approach has been implemented in an integrated
architecture for human-assisted robot visual learning. Keywords: cognitive vision and learning, natural language dialogue | |||
| Auditory perspective taking | | BIBAK | Full-Text | 345-346 | |
| Eric Martinson; Derek Brock | |||
| Auditory perspective taking is the process of imagining the auditory scene
from another's place and inferring what that person can (and cannot) hear, as
well as how this affects his or her auditory comprehension. With this inferred
knowledge, a conversational partner can then adapt his or her vocal
presentation to overcome or cope with competing sounds and other auditory
challenges to ensure that what is being said can be understood. In this poster,
we explore several aspects of auditory perspective taking in the context of a
robot speech and listening interface. Keywords: auditory interface, auditory scene, human-robot interaction | |||
| Multimodal person tracking and attention classification | | BIBAK | Full-Text | 347-348 | |
| Marek P. Michalowski; Reid Simmons | |||
| This paper presents a robot search task (social tag) that uses social
interaction, in the form of asking for help, as an integral component of task
completion. We define socially distributed perception as a robot's ability to
augment its limited sensory capacities through social interaction. Keywords: human-robot interaction, mixed initiative, social robotics | |||
| Socially distributed perception | | BIBAK | Full-Text | 349-350 | |
| Marek P. Michalowski; Carl DiSalvo; Didac Busquets; Laura M. Hiatt; Nik A. Melchior; Reid Simmons; Selma Sabanovic | |||
| The problems of human detection, tracking, and attention recognition can be
solved more effectively by integrating multiple sensory modalities, such as
vision and range data. We present a system that uses a laser range scanner and
a single camera to detect and track people, and to classify their attention
relative to a socially interactive robot. Keywords: human-robot interaction, social robotics | |||
| Perceptions of ASIMO: an exploration on co-operation and competition with humans and humanoid robots | | BIBAK | Full-Text | 351-352 | |
| Bilge Mutlu; Steven Osman; Jodi Forlizzi; Jessica Hodgins; Sara Kiesler | |||
| Recent developments in humanoid robotics have made possible a vision of
robots in everyday use in the home and workplace. However, little is known
about how we should design social interactions with humanoid robots. We
explored how co-operation versus competition in a game shaped people's
perceptions of ASIMO. We found that in the co-operative interaction, people
found the robot more sociable and more intellectual than in the competitive
interaction while people felt more positive and were more involved in the task
in the competitive condition than in the co-operative condition. Our poster
presents these findings with the supporting theoretical background. Keywords: ASIMO, co-operation vs. competition, human-robot interaction, humanoid
robots, social perception, social robots | |||
| On the effect of the user's background on communicating grasping commands | | BIBAK | Full-Text | 353-354 | |
| Maria Ralph; Medhat A. Moussa | |||
| In this paper, we investigate the impact of the user's background on their
ability to communicate grasping commands to a robot. We conducted a study where
a group of 15 non-technical users use natural language to instruct a robotic
arm to grasp five small everyday objects. We found that users with less
technical backgrounds choose simple more predictable commands over complex
unpredictable movements. These users also required more time and commands to
complete a grasping task compared to users with more technical backgrounds.
Other results however suggest that the user's background is not the most
critical factor. Individual preferences and learning approaches also appear to
play a role in command choices. Keywords: grasping, human-robot interaction, natural language instruction, skill
transfer, user-adaptive robotics | |||
| Sociality of robots: do robots construct or collapse human relations? | | BIBAK | Full-Text | 355-356 | |
| Daisuke Sakamoto; Tetsuo Ono | |||
| With developments in robotics, robots "living" with people will become a
part of daily life in the near future. However, there are many problems with
social robots. In particular, the behavior of robots can influence human
relations, and societies have not yet clarified this. In this paper, we report
on an experiment we conducted to verify the influence of robot behavior on
human relations using the "balance theory." The results show that robots can
have both good and bad influence on human relations. One person's impression of
another can undergo changes because of a robot. In other words, robots can
construct or collapse human relations. Keywords: robotic social psychology | |||
| Challenges to grounding in human-robot interaction | | BIBAK | Full-Text | 357-358 | |
| Kristen Stubbs; Pamela Hinds; David Wettergreen | |||
| We report a study of a human-robot system composed of a science team
(located in Pittsburgh), an engineering team (located in Chile), and a robot
(located in Chile). We performed ethnographic observations simultaneously at
both sites over two weeks as scientists collected data using the robot. Our
data reveal problems in establishing and maintaining common ground between the
science team and the robot due to missing contextual information about the
robot. Our results have implications for the design of systems to support
human-robot interaction. Keywords: common ground, ethnography, exploration robotics, human-robot interaction,
mutual knowledge | |||
| Experiments in socially guided machine learning: understanding how humans teach | | BIBAK | Full-Text | 359-360 | |
| Andrea L. Thomaz; Guy Hoffman; Cynthia Breazeal | |||
| In Socially Guided Machine Learning we explore the ways in which machine
learning can more fully take advantage of natural human interaction. In this
work we are studying the role real-time human interaction plays in training
assistive robots to perform new tasks. We describe an experimental platform,
Sophie's World, and present descriptive analysis of human teaching behavior
found in a user study. We report three important observations of how people
administer reward and punishment to teach a simulated robot a new task through
Reinforcement Learning. People adjust their behavior as they develop a model of
the learner, they use the reward channel for guidance as well as feedback, and
they may also use it as a motivational channel. Keywords: human-robot interaction, machine learning, socially guided agents | |||
| Acquiring a shared environment representation | | BIBAK | Full-Text | 361-362 | |
| Elin Anna Topp; Henrik I. Christensen; Kerstin Severinson Eklundh | |||
| Interacting with a domestic service robot implies the existence for a joint
environment model for a user and a robot. We present a pilot study that
investigates, how humans present a familiar environment to a mobile robot.
Results from this study are used to evaluate a generic environment model for a
service robot that can be personalised by interaction. Keywords: cognitive modelling, environment representation, user study | |||