| Tutorial: cognitive analysis methods applied to human-robot interaction | | BIBAK | Full-Text | 1 | |
| Julie A. Adams; Robin R. Murphy | |||
| This half-day tutorial will cover topics related to conducting cognitive
task analysis and cognitive work analysis for purposes of informing human-robot
interaction design and development. The goal of the tutorial is to provide
attendees with an overview and comparison of various cognitive task analysis
and cognitive work analysis methods, an understanding of how to conduct these
types of analyses, collect the necessary data for analysis, and provide
real-world case studies for specific cognitive task analysis and cognitive work
analysis. The tutorial will include examples from actual analyses and data
collection activities. Keywords: human-robot interaction, task analysis | |||
| HRI 2010 workshop 1: what do collaborations with the arts have to say about HRI? | | BIBAK | Full-Text | 3 | |
| William D. Smart; Annamaria Pileggi; Leila Takayama | |||
| Human-Robot Interaction researchers are beginning to reach out to fields not
traditionally associated with interaction research, such as the performing
arts, cartooning, and animation. These collaborations offer the potential for
novel insights about how to get robots and people to interact more effectively,
but they also involve a number of unique challenges. This full-day workshop
will offer a venue for HRI researchers and their collaborators from these
diverse fields to report on their work, share insights about the collaboration
process, and to help begin to define an exciting new area in HRI. Keywords: arts, collaboration, human-robot interaction, performance | |||
| Interaction science perspective on HRI: designing robot morphology | | BIBAK | Full-Text | 5 | |
| Angel P. del Pobil; S. Shyam Sundar | |||
| This workshop will address the impact of robot morphology on HRI from the
perspective of Interaction Science, which encompasses theory and design of
human interaction with technology. Anthropomorphic designs, which are common,
have to be balanced with the "uncanny valley effect," since different
morphologies suggest different affordances to users, triggering a variety of
cognitive heuristics and thereby shaping their interactions with robots. We
expect progress towards more human-acceptable interactions with robots by
understanding the cognitive, behavioral, organizational, and contextual factors
of morphology in HRI, as well as new meta-theories and design guidelines. We
emphasize a highly multi-disciplinary approach, by involving participants from
social sciences, engineering, and design.
Topics of presentation include but not limited to: 1 Engineering considerations in designing robot morphology 2 Empirical psychological considerations in designing robot morphology 3 Aesthetic parameters for transcending the uncanny valley effect (UVE) with static, dynamic and interactive robots 4 Physiological (fMRI) bases of UVE 5 Cognitive heuristics triggered by morphological cues on robot interfaces 6 Adaptation for multimodal robot interfaces 7 Cognitive Robotic Engine for Dependable HRI 8 Acceptance of Socially Interactive Robots 9 Evaluation frameworks for human-like robots 10 Robot appearances for social interactions among Autistic children Keywords: human-robot interaction, morphology, robotics, uncanny valley | |||
| HRI 2010 workshop 3: learning and adaptation of humans in HRI | | BIBAK | Full-Text | 7 | |
| Hiroshi Ishiguro; Robin Murphy; Tatsuya Nomura | |||
| On the current situation where robots having functions of communication with
humans begin to appear in daily-life fields, it should be considered how
symbiosis of humans and robots can be achieved. Many existing studies have
focused on how robots can learn from and adapt for humans. This full-day
workshop focuses not only on this classical theme but also on how humans can
learn in and adapt for environments where robots are acting. In particular,
human learning from and adaptation for robots should be covered by
interdisciplinary research fields including robotics, computer science,
psychology, sociology, and pedagogy. Keywords: adaptation, human-robot interaction, learning | |||
| HRI pioneers workshop 2010 | | BIBAK | Full-Text | 9 | |
| Kate Tsui; Min Kyung Lee; Kristen Stubbs; Henriette Cramer; Laurel D. Riek; Ja-Young Sung; Osawa Hirotaka; Satoru Satake | |||
| The field of human-robot interaction is new but growing rapidly. While there
are now several established researchers in the field, many of the current
human-robot interaction practitioners are students or recently graduated. This
workshop, to be held in conjunction with the HRI 2010 Conference, aims to bring
together graduate students to present their current research to an audience of
their peers in a setting that is less formal and more interactive than the main
HRI conference, to talk about the important issues in their field, and to hear
about what their colleagues are doing. Participants are encouraged to actively
engage in and form relationships with others by discussing fundamental topics
in HRI and by engaging in hands-on group activities. Keywords: collaboration, human-robot interaction, multidisciplinary | |||
| Panel 1: grand technical and social challenges in human-robot interaction | | BIBA | Full-Text | 11 | |
| Nathan Freier; Minoru Asada; Pam Hinds; Gerhard Sagerer; Greg Trafton | |||
| Robots are becoming part of people's everyday social lives -- and will increasingly become so. In future years, robots may become caretaking assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. They may become our friends. As we move to create our future with robots, hard problems in HRI exist, both technically and socially. The Fifth Annual Conference on HRI seeks to take up grand technical and social challenges in the field -- and speak to their integration. This panel brings together 4 leading experts in the field of HRI to speak on this topic. | |||
| Panel 2: social responsibility in human-robot interaction | | BIBA | Full-Text | 11 | |
| Nathan Freier; Aude Billard; Hiroshi Ishiguro; Illah Nourbakhsh | |||
| At the 2008 ACM/IEEE Conference on Human-Robot Interaction, a provocative panel was held to discuss the complicated ethical issues that abound in the field of human-robot interaction. The panel members and the audience participation made it clear that the HRI community desires -- indeed, is in need of -- an ongoing discussion on the nature of social responsibility in the field of human-robot interaction. At the 2010 Conference, we will hold a panel on the issues of social responsibility in HRI, focusing on the unique features of robotic interaction that call for responsible action (e.g., value-specific domains such as autonomy, accountability, trust, and/or human dignity; and application areas such as military applications, domestic care, entertainment, and/or communication). As a young and rapidly growing field, we have a responsibility to conduct our research in such a way that it leads to human-robot interaction outcomes that promote rather than hinder the flourishing of humans across society. What does social responsibility within the HRI field look like, and how do we conduct our work while adhering to such an obligation? The panelists will be asked to address this and related questions as a means of continuing an ongoing conversation on social responsibility in human-robot interaction. | |||
| Company talks | | BIBA | Full-Text | 13 | |
| Y. Hosoda; N. Sumida; T. Mita; Y. Matsukawa; D. Yamamoto; N. Shibatani; L. Takayama | |||
| The aim of the company talks is (1) to provide a good picture about
forefront technologies about robots related to human-robot interaction, and (2)
to provide a opportunity to connect researchers and people from industries.
Seven companies gives 8 minutes talk to present their cutting-edge technologies. Instead of having Q&A time after each presentation researchers and company presenters are Q&A time after each presentation, researchers and company presenters are encouraged to communicate with each other during reception just after company talks, where research posters will be presented. | |||
| MeBot: a robotic platform for socially embodied presence | | BIBAK | Full-Text | 15-22 | |
| Sigurdur O. Adalgeirsson; Cynthia Breazeal | |||
| Telepresence refers to a set of technologies that allow users to feel
present at a distant location; telerobotics is a subfield of telepresence. This
paper presents the design and evaluation of a telepresence robot which allows
for social expression. Our hypothesis is that a telerobot that communicates
more than simply audio or video but also expressive gestures, body pose and
proxemics, will allow for a more engaging and enjoyable interaction. An
iterative design process of the MeBot platform is described in detail, as well
as the design of supporting systems and various control interfaces. We
conducted a human subject study where the effects of expressivity were
measured. Our results show that a socially expressive robot was found to be
more engaging and likable than a static one. It was also found that
expressiveness contributes to more psychological involvement and better
cooperation. Keywords: embodied videoconferencing, human robot interaction, robot-mediated
communication, telepresence | |||
| Robots asking for directions: the willingness of passers-by to support robots | | BIBAK | Full-Text | 23-30 | |
| Astrid Weiss; Judith Igelsböck; Manfred Tscheligi; Andrea Bauer; Kolja Kühnlenz; Dirk Wollherr; Martin Buss | |||
| This paper reports about a human-robot interaction field trial conducted
with the autonomous mobile robot ACE (Autonomous City Explorer) in a public
place, where the ACE robot needs the support of human passers-by to find its
way to a target location. Since the robot does not possess any prior map
knowledge or GPS support, it has to acquire missing information through
interaction with humans. The robot thus has to initiate communication by asking
for the way, and retrieves information from passers-by showing the way by
gestures (pointing) and marking goal positions on a still image on the touch
screen of the robot. The aims of the field trial where threefold: (1)
Investigating the aptitude of the navigation architecture, (2) Evaluating the
intuitiveness of the interaction concept for the passers-by, (3) Assessing
people's willingness to support the ACE robot in its task, i.e. assessing the
social acceptability. The field trial demonstrates that the architecture
enables successful autonomous path finding without any prior map knowledge just
by route directions given by passers-by. An additional street survey and
observational data moreover attests the intuitiveness of the interaction
paradigm and the high acceptability of the ACE robot in the public place. Keywords: autonomous mobile robot, field trial, human-robot interaction, social
acceptance | |||
| A larger audience, please!: encouraging people to listen to a guide robot | | BIBAK | Full-Text | 31-38 | |
| Masahiro Shiomi; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| Tour guidance is a common task of social robots. Such a robot must be able
to encourage the participation of people who are not directly interacting with
it. We are particularly interested in encouraging people to overhear its
interaction with others, since it has often been observed that even people who
hesitate to interact with a robot are willing to observe its activity. To
encourage such participation as bystanders, we developed a robot that walks
backwards based on observations of human tour guides. Our developed system uses
a robust human tracking system that enables a robot to guide people by walking
forward/backward and allows us to scrutinize people's behavior after the
experiment. We conducted a field experiment to compare the ratios of
overhearing in "walking forward" and "walking backward." The experimental
results revealed that in fact people do more often overhear the robot's
conversation in the "walking backward" condition. Keywords: eliciting spontaneous participation, social human-robot interaction,
tour-guide robot | |||
| A study of a retro-projected robotic face and its effectiveness for gaze reading by humans | | BIBAK | Full-Text | 39-44 | |
| Frédéric Delaunay; Joachim de Greeff; Tony Belpaeme | |||
| Reading gaze direction is important in human-robot interactions as it
supports, among others, joint attention and non-linguistic interaction. While
most previous work focuses on implementing gaze direction reading on the robot,
little is known about how the human partner in a human-robot interaction is
able to read gaze direction from a robot. The purpose of this paper is twofold:
(1) to introduce a new technology to implement robotic face using
retro-projected animated faces and (2) to test how well this technology
supports gaze reading by humans. We briefly discuss the robot design and
discuss parameters influencing the ability to read gaze direction. We present
an experiment assessing the user's ability to read gaze direction for a
selection of different robotic face designs, using an actual human face as
baseline. Results indicate that it is hard to recreate human-human interaction
performance. If the robot face is implemented as a semi sphere, performance is
worst. While robot faces having a human-like physiognomy and, perhaps
surprisingly, video projected on a flat screen perform equally well and seem to
suggest that these are the good candidates to implement joint attention in HRI. Keywords: eye gaze, human-robot interaction, joint attention, robotic face | |||
| Judging a bot by its cover: an experiment on expectation setting for personal robots | | BIBAK | Full-Text | 45-52 | |
| Steffi Paepcke; Leila Takayama | |||
| Managing user expectations of personal robots becomes particularly
challenging when the end-user just wants to know what the robot can do, and
neither understands nor cares about its technical specifications. In describing
what a robot can do to such an end-user, we explored the questions of (a)
whether or not such users would respond to expectation setting about personal
robots and, if so, (b) how such expectation setting would influence human-robot
interactions and people's perceptions of the robots. Using a 2 (expectation
setting: high vs. low) x 2 (robot type: Pleo vs. AIBO) between-participants
experiment (N=24), we examined these questions. We found that people's initial
beliefs about the robot's capabilities are indeed influenced by expectation
setting tactics. Contrary to the hypotheses predicted by the Self-Fulfilling
Prophecy and Confirmation Bias, we found that erring on the side of setting
expectations lower rather than higher led to less disappointment and more
positive appraisals of the robot's competence. Keywords: human-robot interaction, user expectations | |||
| Perception of affect elicited by robot motion | | BIBAK | Full-Text | 53-60 | |
| Martin Saerbeck; Christoph Bartneck | |||
| Nonverbal behaviors serve as a rich source of information in inter human
communication. In particular, motion cues can reveal details on a person's
current physical and mental state. Research has shown, that people do not only
interpret motion cues of humans in these terms, but also the motion of animals
and inanimate devices such as robots. In order to successfully integrate mobile
robots in domestic environments, designers have therefore to take into account
how the device will be perceived by the user.
In this study we analyzed the relationship between motion characteristics of a robot and perceived affect. Based on a literature study we selected two motion characteristics, namely acceleration and curvature, which appear to be most influential for how motion is perceived. We systematically varied these motion parameters and recorded participants interpretations in terms of affective content. Our results suggest a strong relation between motion parameters and attribution of affect, while the type of embodiment had no effect. Furthermore, we found that the level of acceleration can be used to predict perceived arousal and that valence information is at least partly encoded in an interaction between acceleration and curvature. These findings are important for the design of behaviors for future autonomous household robots. Keywords: affective communication, expressive robotic behavior, nonverbal
communication | |||
| Cooperative gestures: effective signaling for humanoid robots | | BIBAK | Full-Text | 61-68 | |
| Laurel D. Riek; Tal-Chen Rabinowitch; Paul Bremner; Anthony G. Pipe; Mike Fraser; Peter Robinson | |||
| Cooperative gestures are a key aspect of human-human pro-social interaction.
Thus, it is reasonable to expect that endowing humanoid robots with the ability
to use such gestures when interacting with humans would be useful. However,
while people are used to responding to such gestures expressed by other humans,
it is unclear how they might react to a robot making them. To explore this
topic, we conducted a within-subjects, video based laboratory experiment,
measuring time to cooperate with a humanoid robot making interactional
gestures. We manipulated the gesture type (beckon, give, shake hands), the
gesture style (smooth, abrupt), and the gesture orientation (front, side). We
also employed two measures of individual differences: negative attitudes toward
robots (NARS) and human gesture decoding ability (DANVA2-POS). Our results show
that people cooperate with abrupt gestures more quickly than smooth ones and
front-oriented gestures more quickly than those made to the side, people's
speed at decoding robot gestures is correlated with their ability to decode
human gestures, and negative attitudes toward robots is strongly correlated
with a decreased ability in decoding human gestures. Keywords: affective robotics, cooperation, gestures, human-robot interaction | |||
| Towards robust human robot collaboration in industrial environments | | BIBAK | Full-Text | 71-72 | |
| Batu Akan; Baran Çürüklü; Giacomo Spampinato; Lars Asplund | |||
| In this paper a system, which is driven through natural language, that
allows operators to select and manipulate objects in the environment using an
industrial robot is proposed. In order to hide the complexities of robot
programming we propose a natural language where the user can control and jog
the robot based on reference objects in the scene. We used semantic networks to
relate different types of objects in the scene. Keywords: human robot interaction, object selection, robot collaboration | |||
| Similarities and differences in users' interaction with a humanoid and a pet robot | | BIBAK | Full-Text | 73-74 | |
| Anja Austermann; Seiji Yamada; Kotaro Funakoshi; Mikio Nakano | |||
| In this paper, we compare user behavior towards the humanoid robot ASIMO and
the dog-shaped robot AIBO in a simple task, in which the users has to teach
commands and feedback to the robot. Keywords: human-robot interaction, humanoid, user study | |||
| Create children, not robots! | | BIBAK | Full-Text | 75-76 | |
| Christoph Bartneck | |||
| This essay investigates the situation of young researchers in the HRI
community. I argue that we need to have a more child friendly environment to
encourage young staff members to create children. Keywords: academia, birth rate, children, elderly | |||
| Robots, children, and helping: do children help a robot in need? | | BIBAK | Full-Text | 77-78 | |
| Tanya N. Beran; Alejandro Ramirez-Serrano | |||
| This study examined the interactions between children and robots by
observing whether children help a robot complete a task under five conditions
to determine which elicited the most help. Each condition had an experimental
and control group, with 20-32 children (even number of boys and girls) in each
group. Visitors to a science centre located in a major Western Canadian city
were invited to participate in an experiment set up at the centre. Their
behaviors with a robot, a small 5 degree of freedom robot arm, were observed.
Results of chi-square analyses indicated that children are most likely to help
a robot after being introduced to it, X{sup:2}(1) = 4.15, p = .04. This
condition was the only one of five tested that demonstrated a significant
increase in children's helping behaviors. These results suggest that an adult's
demonstrated positive introduction to a robot impacts children's helping
behaviors towards it. Keywords: children, prosocial behaviors, robotics | |||
| Learning context-based feature descriptors for object tracking | | BIBAK | Full-Text | 79-80 | |
| Ali Borji; Simone Frintrop | |||
| A major problem with previous object tracking approaches is adapting object
representations depending on scene context to account for changes in
illumination, viewpoint changes, etc. To adapt our previous approach to deal
with background changes, here we first derive some clusters from a training
sequence and the corresponding object representations for those clusters. Next,
for each frame of a separate test sequence, its nearest background cluster is
determined and then the corresponding descriptor of that cluster is used for
object representation in this frame. Experiments show that the proposed
approach tracks objects and persons in natural scenes more effectively. Keywords: clustering, descriptor adaptation, feature-based tracking, particle filter | |||
| RoboLeader: an agent for supervisory control of multiple robots | | BIBAK | Full-Text | 81-82 | |
| Jessie Y. C. Chen; Michael J. Barnes; Zhihua Qu | |||
| We developed an intelligent agent, RoboLeader, that could assist human
operators in route planning for a team of ground robots. We compared the
operators' target detection performance in the 4-robot and 8-robot conditions.
Results showed that the participants detected significantly less targets and
had significantly worse situation awareness when there were 8 robots compared
to the 4-robot condition. Those participants with higher spatial ability
detected more targets than did those with lower spatial ability. Participants'
self-assessed workload was affected by the number of robots under control,
their gender, and their attentional control ability. Keywords: individual differences, intelligent agent, military, simulation, supervisory
control | |||
| Evaluation of on screen navigational methods for a touch screen device | | BIBAK | Full-Text | 83-84 | |
| Andrew Ho Siyong; Chua Wei Liang Kenny | |||
| This study involves the design and evaluation of control methods for a touch
screen device to enable effective navigation for UGVs (Unmanned Ground
Vehicles). 6 different control methods were designed and evaluated. An
experiment was conducted requiring participants to conduct navigational tasks.
Analysis considers number of errors committed, task completion time and user
preference. Keywords: human factors, human robot interaction, interface design, touch screen | |||
| Towards industrial robots with human-like moral responsibilities | | BIBAK | Full-Text | 85-86 | |
| Baran Çürüklü; Gordana Dodig-Crnkovic; Batu Akan | |||
| Robots do not have any capability of taking moral responsibility. At the
same time industrial robotics is entering a new era with "intelligent" robots
sharing workbench with humans. Teams consisting of humans and industrial robots
are no longer science fiction. The biggest worry in this scenario is the fear
of humans losing control and robots running amok. We believe that the current
way of implementing safety measures have shortcomings, and cannot address
challenges related to close collaboration between humans and robots. We propose
that "intelligent" industrial robots of the future should have moral
responsibilities towards their human colleagues. We also propose that
implementation of moral responsibility is radically different from standard
safety measures. Keywords: ethics, human-robot interaction, industrial robots, moral responsibilities,
safety | |||
| Neel: an intelligent shopping guide -- using web data for rich interactions | | BIBAK | Full-Text | 87-88 | |
| Chandan Datta; Ritukar Vijay | |||
| The project Myneel and its portal myneel.com together were envisaged to
provide us with crucial insights into the commercialization of service robots.
In this paper we describe our system and propose an approach to develop an
interactive conversational agent which can serve shopping needs of the visitors
in a shopping mall. Keywords: interactive robots, mass collaboration, service robots, user interface | |||
| An adaptive probabilistic graphical model for representing skills in pbd settings | | BIBAK | Full-Text | 89-90 | |
| Haris Dindo; Guido Schillaci | |||
| Understanding and efficiently representing skills is one of the most
important problems in a general Programming by Demonstration (PbD) paradigm. We
present Growing Hierarchical Dynamic Bayesian Networks (GHDBN), an adaptive
variant of the general DBN model able to learn and to represent complex skills.
The structure of the model, in terms of number of states and possible
transitions between them, is not needed to be known a priori. Learning in the
model is performed incrementally and in an unsupervised manner. Keywords: dynamic Bayesian networks, growing hierarchical dynamic Bayesian network,
imitation learning, incremental learning, machine learning | |||
| A midsummer night's dream: social proof in HRI | | BIBAK | Full-Text | 91-92 | |
| Brittany A. Duncan; Robin R. Murphy; Dylan Shell; Amy G. Hopper | |||
| The introduction of two types of unmanned aerial vehicles into a production
of A Midsummer Night's Dream suggests that social proof informs untrained human
groups. We describe the metaphors used in instructing actors, who were
otherwise untrained and inexperienced with robots, in order to shape their
expectations. Audience response to a robot crash depended on whether the
audience had seen how the actors interacted with the robot "baby fairies." If
they had not seen the actors treating a robot gently, an audience member would
likely throw the robot expecting it to fly or handle it roughly. If they had
seen the actors with the robots, the audience appeared to adopt the same gentle
style and mechanisms for re-launching the micro-helicopter. The difference in
audience behavior suggests that the principle of social proof will govern how
untrained humans will react to robots. Keywords: human-robot interaction, performing arts, robotic theater, social
interaction, social proof, uav-human interaction | |||
| iForgot: a model of forgetting in robotic memories | | BIBAK | Full-Text | 93-94 | |
| Cathal Gurrin; Hyowon Lee; Jer Hayes | |||
| Much effort has focused in recent years on developing more life-like robots.
In this paper we propose a model of memory for robots, based on human digital
memories, though our model incorporates an element of forgetting to ensure that
the robotic memory appears more human and therefore can address some of the
challenges for human-robot interaction. Keywords: digital memories, forgetting, life experiences, robotics | |||
| Exploring emotive actuation and its role in human-robot interaction | | BIBAK | Full-Text | 95-96 | |
| John Harris; Ehud Sharlin | |||
| In this paper, we present our research efforts in exploring the role of
motion and actuation in human-robot interaction. We define Emotive Actuation,
and briefly discuss its function and importance in social robotic interaction.
We propose a suggested methodology for exploring Emotive Actuation in HRI, and
present a robotic testbed we designed for this purpose. We conclude with
informal results of a preliminary design critique we performed using our
testbed. Keywords: emotive actuation, social human-robot interaction | |||
| Multi-touch interaction for tasking robots | | BIBAK | Full-Text | 97-98 | |
| Sean Timothy Hayes; Eli R. Hooten; Julie A. Adams | |||
| The objective is to develop a mobile human-robot interface that is optimized
for multi-touch input. Our existing interface was designed for mouse and
keyboard input and was later adopted for voice and touch interaction. A new
multi-touch interface permits multi-touch gestures, for example zooming and
panning a map, and robot task specific touch interactions. An initial user
evaluation found that the multi-touch interface is preferred and yields
superior performance. Keywords: human-robot interaction, multi-touch interaction | |||
| Active navigation landmarks for a service robot in a home environment | | BIBAK | Full-Text | 99-100 | |
| Kentaro Ishii; Akihiko Ishida; Greg Saul; Masahiko Inami; Takeo Igarashi | |||
| This paper proposes a physical user interface for a user to teach a robot to
navigate a home environment. The user places small devices containing infrared
based communication functionality as landmarks in the environment. The robot
follows these landmarks to navigate to a goal landmark. Active landmarks
communicate with each other to map their spatial relationships. Our method
allows the user to start using the system immediately after placing the
landmarks without installing any global position sensing system or prior
mapping by the robot. Keywords: active landmarks, end-user interface, infrared communication, navigation
path, robot navigation | |||
| Toward coactivity | | BIBAK | Full-Text | 101-102 | |
| Matthew Johnson; Jeffrey M. Bradshaw; Paul J. Feltovich; Catholijn Jonker; Maarten Sierhuis; Birna van Riemsdijk | |||
| This paper introduces the concept of Coactivity as a new focal point for
Human-Robot Interaction to address the more sophisticated roles of partner or
teammate envisioned for future human-robot systems. We propose that most
approaches to date have focused on autonomy and suggest that autonomy is the
wrong focal point. The envisioned roles, if properly performed, have a high
level of interdependence that cannot be addressed solely by autonomy and
necessitate a focus on the coactivity. Keywords: autonomy, coactive, coordination, interdependence | |||
| A code of ethics for robotics engineers | | BIBAK | Full-Text | 103-104 | |
| Brandon Ingram; Daniel Jones; Andrew Lewis; Matthew Richards; Charles Rich; Lance Schachterle | |||
| The future of robotics engineering is in the hands of engineers and must be
handled to ensure the safety of all people and the reputation of the field. We
are in the process of developing a code of ethics for professional robotics
engineers to serve as a guideline for the ethical development of the field.
This document contains the current version of this code and describes the
methodology used in developing it. Keywords: code, ethics, robotics engineering | |||
| Sociable dining table: the effectiveness of a "konkon" interface for reciprocal adaptation | | BIBAK | Full-Text | 105-106 | |
| Yuki Kado; Takanori Kamoda; Yuta Yoshiike; P. Ravindra S. De Silva; Michio Okada | |||
| We developed a creatures-based social dining table that can communicate
through a knocking sound, which in Japanese is pronounced as "KonKon." Our main
focus was to create a minimal number of cues for a proto-communication by
establishing social interactions between a creature and a human. In particular,
humans used the "KonKon" interface to communicate with a creature to
demonstrate the social behaviors necessary to adapt to a person's intentions.
The creature used a mutual adaptation model for achieving a more ideal
adaptation during the interactions. In the experimental results, we discuss the
concept of the creature and indicate the effectiveness of the
communication-protocol on the "KonKon" interface for mutual adaptation. Keywords: mutual adaptation, social cues, social dining table | |||
| Effects of intergroup relations on people's acceptance of robots | | BIBAK | Full-Text | 107-108 | |
| Yunkyung Kim; Sonya S. Kwak; Myung-suk Kim | |||
| The objective of this study is to examine the effect of intergroup relations
on robots through comparison with other objects. In an experiment, participants
watched eight stimuli drawn from four types of objects (people vs. robots vs.
animals vs. products) according to two types of intergroup relations (in-group
vs. out-group) and rated each stimuli in terms of familiarity, reliability, and
preference. Regarding familiarity and reliability, the effect of intergroup
relations on robots was greater than that on animals or products, but smaller
than that on people. The degree of the effect regarding reliability was larger
than that regarding familiarity for all types of object. In the case of
preference, the effects of intergroup relations between people and robots and
between animals and products were similar, and the effect on people and robots
was greater than that on animals and products. Keywords: intergroup relations | |||
| Choosing answerers by observing gaze responses for museum guide robots | | BIBAK | Full-Text | 109-110 | |
| Yoshinori Kobayashi; Takashi Shibata; Yosuke Hoshi; Yoshinori Kuno; Mai Okada; Keiichi Yamazaki | |||
| This paper presents a method of selecting the answerer from audiences for a
museum guide robot. We performed the preliminary experiments that a robot
distributed its gaze towards visitors to select an answerer and analyzed
visitors' responses. From these experiments, we have found that the visitors
who are asked questions by the robot feel embarrassed when they have no prior
knowledge about the question and the visitor's gaze during the question plays
an important role to avoid being asked question. Based on these findings we
developed functions for a guide robot to select the answerer by observing
behaviors of multiple visitors. Multiple visitors' head motions are tracked and
recognized by using an omni-directional camera and a laser range sensor. The
robot detects the visitors' positive and negative responses by observing their
head motions while asking questions. We confirmed the effectiveness of our
method by experiments. Keywords: conversation analysis, gaze tracking, guide robot, non-verbal action, sensor
fusion | |||
| From cartoons to robots: facial regions as cues to recognize emotions | | BIBAK | Full-Text | 111-112 | |
| Tomoko Koda; Yuka Nakagawa; Kyota Tabuchi; Zsofia Ruttkay | |||
| This paper introduces a preliminary result of a cross-cultural study on the
facial regions as cues to recognize virtual agents' facial expressions. We
believe providing research results on the perception of cartoonish virtual
agents' facial expressions to HRI research community is meaningful in order to
minimize the effort to develop robot's facial expressions. The result implies
1) the mouth region is more effective in conveying the emotions of the facial
expressions than the eye region, 2) there are cultural differences in using
facial regions as cues to recognize cartoonish facial expressions between
Hungary and Japan. Keywords: cross-culture, facial expression | |||
| Human training using HRI approach based on fuzzy ARTMap networks | | BIBAK | Full-Text | 113-114 | |
| Felipe Machorro-Fernández; Vicente Parra-Vega; Ismael López-Juárez | |||
| Based on recent studies which establishes that skill acquisition requires
not just specification of motor skills, learning and skill application but also
intervention of human expert only in certain phases, we present an approach
which encode the human expert demonstration into a teacher class based on Fuzzy
ArtMap network. Then, the human novice trainee produces the approximate
knowledge, which is in turn coded into student class. The evaluation function
introduces a class metric which simultaneously allows the student to refine
motor commands to increase the trainee pace while modifies accordingly the
desired trajectory of the robot. Preliminary experiments indicates a high
success rate in contact robotic tasks, in a deterministic setting. Keywords: machine learning human robot interaction | |||
| Robot-assisted upper-limb rehabilitation platform | | BIBAK | Full-Text | 115-116 | |
| Matteo Malosio; Nicola Pedrocchi; Lorenzo Molinari Tosatti | |||
| This work presents a robotic platform for upper-limb rehabilitation
robotics. It integrates devices for human multi-sensorial feedback for engaging
and immersive therapies. Its modular software design and architecture allows
the implementation of advanced control algorithms for effective and customized
rehabilitations. A flexible communication infrastructure allows straightforward
devices integration and system expandability. Keywords: human-robot interaction, open controller, rehabilitation robotics, virtual
haptics | |||
| The development of small size humanoid robot which is easy to use | | BIBAK | Full-Text | 117-118 | |
| Hirofumi Niimi; Minoru Koike; Seiichi Takeuchi; Noriyoshi Douhara | |||
| We designed humanoid robots based on the skeleton. They were easy to make
the motions by designing them in the proportion of human. The motions of crawl
on the hands and knees, roll-over and crawl on the back were made by using
humanoid robot SANDY-3. Keywords: crawl, humanoid robot, sandy | |||
| Application of unexpectedness to the behavioral design of an entertainment robot | | BIBAK | Full-Text | 119-120 | |
| Hyojung Oh; Sonya S. Kwak; Myung-Suk Kim | |||
| The objectives of this study are to apply unexpectedness to the behavioral
design of an entertainment robot and to evaluate the impression and
satisfaction provided by the robot. Participants(N=44) observed four robot
behaviors, which are distinguished by type of expectancy disconfirmation
(positive disconfirmation, negative disconfirmation, simply confirmation,
unexpected disconfirmation), and evaluated each behavior in terms of novelty,
enjoyment, satisfaction, performance, and reliability. Participants perceived
the unexpected disconfirmation behavior to be more novel and enjoyable such
that they preferred this type over the other types. On the other hand, they
evaluated the positive disconfirmation behavior as more intelligent and
reliable than the other types. These findings will provide an essential basis
for designing the behavior of an entertainment robot with the use of
unexpectedness. Keywords: behavioral design, entertainment robot, expectancy disconfirmation,
expectation incongruity, unexpectedness | |||
| Design guidelines for industrial power assist robots for lifting heavy objects based on human's weight perception for better HRI | | BIBAK | Full-Text | 121-122 | |
| S. M. Mizanoor Rahman; Ryojun Ikeura; Masaya Nobe; Hideki Sawai | |||
| We hypothesized that weight perception (WP) due to inertia might be
different from WP due to gravity for lifting an object with a power assist
robot (PAR). Objects were lifted with a PAR independently under three different
lifting schemes-unimanual, bimanual, and cooperative lift. Then, psychophysical
relationships between actual and power-assisted weights (PAWs) as well as
excess in load forces (LFs) were determined for each scheme separately. A novel
control strategy was introduced to reduce the excess in LFs for each scheme.
Finally, we proposed to use the findings as design guidelines to design PARs
for lifting heavy objects in industries that would improve HRI in terms of
human, robot and system. Keywords: design guidelines, feedback position control, lifting objects, power assist
robot, psychophysics, weight perception | |||
| Psychological intimacy with robots?: using interaction patterns to uncover depth of relation | | BIBAK | Full-Text | 123-124 | |
| Peter H., Jr. Kahn; Jolina H. Ruckert; Takayuki Kanda; Hiroshi Ishiguro; Aimee Reichert; Heather Gary; Solace Shen | |||
| This conceptual paper broaches possibilities and limits of establishing
psychological intimacy in HRI. Keywords: authenticity, design methodology, human-robot interaction, interaction
patterns, intimacy, social and moral development | |||
| Exploring interruption in HRI using wizard of oz | | BIBAK | Full-Text | 125-126 | |
| Paul Saulnier; Ehud Sharlin; Saul Greenberg | |||
| We are interested in exploring how robots controlled using Wizard of Oz
(WoO) should interrupt humans in various social settings. While there is
considerable work on interruption and interruptibility in HCI, little has been
done to explore how these concepts will map robotic interaction. As part of our
efforts to investigate interruption and interruptibility in HRI we used
WoO-based methodology to investigate robot behaviours in a simple interruption
scenario. In this report we contribute a design critique that discusses this
methodology, and common concerns that could be generalized to other social HRI
experiments as well as reflections on our future interruption HRI research. Keywords: component, human-robot interaction, interruption, methodology, robot
behaviours, social | |||
| Survivor buddy and SciGirls: affect, outreach, and questions | | BIBAK | Full-Text | 127-128 | |
| Robin Murphy; Vasant Srinivasan; Negar Rashidi; Brittany Duncan; Aaron Rice; Zachary Henkel; Marco Garza; Clifford Nass; Victoria Groom; Takis Zourntos; Roozbeh Daneshvar; Sharath Prasad | |||
| This paper describes the Survivor Buddy human-robot interaction project and
how it was used by four middle-school girls to illustrate the scientific
process for an episode of "SciGirls", a Public Broadcast System science reality
show. Survivor Buddy is a four degree of freedom robot head, with the face
being a MIMO 740 multi-media touch screen monitor. It is being used to explore
consistency and trust in the use of robots as social mediums, where robots
serve as intermediaries between dependents (e.g., trapped survivors) and the
outside world (doctors, rescuers, family members). While the SciGirl
experimentation was neither statistically significant nor rigorously
controlled, the experience makes three contributions. It introduces the
Survivor Buddy project and social medium role, it illustrates that human-robot
interaction is an appealing way to make robotics more accessible to the general
public, and raises interesting questions about the existence of a minimum set
of degrees of freedom for sufficient expressiveness, the relative importance of
voice versus non-verbal affect, and the range and intensity of robot motions. Keywords: assistive robots, gaze and gestures, human-robot interaction, interaction
styles, robots, user interfaces | |||
| Considering the bystander's perspective for indirect human-robot interaction | | BIBK | Full-Text | 129-130 | |
| Katherine M. Tsui; Munjal Desai; Holly A. Yanco | |||
Keywords: experiment, social etiquette, trust | |||
| Interactive story creation for knowledge acquisition | | BIBAK | Full-Text | 131-132 | |
| Shohei Yoshioka; Takuya Maekawa; Yasushi Hirano; Shoji Kajita; Kenji Mase | |||
| This paper proposes an agent system that semi-automatically creates stories
about daily events detected by ubiquitous sensors. These stories are knowledge
of inhabitants' daily lives and it may be useful for human-friendly agent.
Story flows in daily lives are extracted from interaction between sensor room
inhabitants and a symbiotic agent. The agent asks causal relationships among
daily events for inhabitants to create the story flow. Experimental results
show that created stories let created stories perceive agent's intelligence. Keywords: humanoid robot, story creation, ubiquitous environment | |||
| Showing robots how to follow people using a broomstick interface | | BIBAK | Full-Text | 133-134 | |
| James E. Young; Kentaro Ishii; Takeo Igarashi; Ehud Sharlin | |||
| Robots are poised to enter our everyday environments such as our homes and
offices, contexts that present unique questions such as the style of the
robot's actions. Style-oriented characteristics are difficult to define
programmatically, a problem that is particularly prominent for a robot's
interactive behaviors, those that must react accordingly to dynamic actions of
people. In this paper, we present a technique for programming the style of how
a robot should follow a person by demonstration, such that non-technical
designers and users can directly create the style of following using their
existing skill sets. We envision that simple physical interfaces like ours can
be used by non-technical people to design the style of a wide range of robotic
behaviors. Keywords: human-robot interaction, programming by demonstration | |||
| Cues for sociable PC: coordinate and synchronize its cues based on user attention and activities on display | | BIBAK | Full-Text | 135-136 | |
| Yuta Yoshiike; P. Ravindra S. De Silva; Michio Okada | |||
| A sociable PC (SPC) is capable of engaging and interacting with social cues
while users use it. SPC is a kind of artifact which is capable of coordinating
and synchronizing its behaviors based on user attention and information on a
display. In particular, SPC can exhibit behaviors to induce a trust through
social rapport with the user while responding to the user's behaviors and
activities on a PC. We used the concept of a minimalism designing mechanism to
invent the SPC. The SPC appearance is much like soft "Tofu," so the user can
touch and sense it. The SPS can also provide feedback to the user using
attractive social cues such as shaking its body, displaying an attractive
motion and joint attention with the user, etc. Keywords: sociable pc, social cues, social rapport | |||
| Do children perceive robots as alive?: children's attributions of human characteristics | | BIBAK | Full-Text | 137-138 | |
| Tanya N. Beran; Alejandro Ramirez-Serrano | |||
| Centuries ago, the existence of life was explained by the presence of a soul
[1]. Known as animism, this term was re-defined in the 1970s by Piaget as young
children's beliefs that inanimate objects are capable of actions and have
lifelike qualities. With the development of robots in the 21st century,
researchers have yet to examine whether animism is apparent in children's
impressions of robots. The purpose of this study was to examine children's
perspectives about the cognitive, affective, and behavioral attributes of a
robot. Visitors to a science centre located in a major Western Canadian city
were invited to participate in an experiment set up at the centre. A total of
198 children ages 5 to 16 years (M = 8.18 years) with an approximate even
number of boys and girls participated. Children were interviewed after
observing a robot, a small 5 degree of freedom robot arm, perform a block
stacking task. Answers to the six questions about the robot were scored
according to whether they referenced humanistic qualities. Frequency and
content analysis results suggest that a significant proportion of children
ascribe cognitive, affective, and behavioral characteristics to robots. Keywords: animism, children, robotics | |||
| Effects of operator spatial ability on uav-guided ground navigation | | BIBAK | Full-Text | 139-140 | |
| Jessie Y. C. Chen | |||
| We simulated a military reconnaissance environment and examined the
performance of ground robotics operators who were instructed to utilize
streaming video from an unmanned aerial vehicle to navigate his/her ground
robot to the locations of the targets. We evaluated participants' spatial
ability and examined if it affected their performance or perceived workload.
Results showed that participants with higher spatial ability performed
significantly better in target-mapping performance and reported less workload
than those with lower spatial ability. Participants with poor
sense-of-direction performed significantly worse in the target search task in
the night condition compared with those with better sense-of-direction. Keywords: human-robot interaction, individual differences, military, navigation,
reconnaissance, spatial ability, uav | |||
| Effects of (in)accurate empathy and situational valence on attitudes towards robots | | BIBAK | Full-Text | 141-142 | |
| Henriette Cramer; Jorrit Goddijn; Bob Wielinga; Vanessa Evers | |||
| Empathy has great potential in human-robot interaction. However, the
challenging nature of assessing the user's emotional state points to the
importance of also understanding the effects of empathic behaviours incongruent
with users' affective experience. A 3x2 between-subject video-based survey
experiment (N=133) was conducted with empathic robot behaviour (empathically
accurate, neutral, inaccurate) and valence of the situation (positive,
negative) as dimensions. Trust decreased when empathic responses were
incongruent with the affective state of the user. However, in the negative
valence condition, reported perceived empathic abilities were greater when the
robot responded as if the situation were positive. Keywords: emotional valence, empathy, human-robot interaction, social robots | |||
| Using proxemics to evaluate human-robot interaction | | BIBAK | Full-Text | 143-144 | |
| David Feil-Seifer; Maja Matariæ | |||
| Recent feasibility studies involving children with autism spectrum disorders
(ASD) interacting with socially assistive robots have shown that children can
have both positive and negative reactions to robots. These reactions can be
readily identified by a human observer watching videos from an overhead camera.
Our goal is to automate the process of such behavior analysis. This paper shows
how a heuristic classifier can be used to discriminate between children that
are attempting to interact socially with a robot and children that are not. Keywords: autism spectrum disorders, human-robot interaction | |||
| Is a telepresence-system an effective alternative to manned missions? | | BIBAK | Full-Text | 145-146 | |
| Lena Geiger; Michael Popp; Berthold Färber; Jordi Artigas; Philipp Kremer | |||
| Telepresence-systems have the potential to take on an important role in
on-orbit servicing scenarios. In comparison to manned missions, these systems
offer a safer way to operate in outer space. One of the main goals of
telepresence research is to learn whether immersive telepresence systems can
achieve the efficiency of astronauts in typical mounting tasks, considering
that astronauts' mobility is restricted by a range of factors including
microgravity and space suits. In order to determine whether a telepresence
system is more efficient in performing tasks compared to suited astronauts, an
experimental study comparing both scenarios was accomplished. Keywords: completion time, on-orbit servicing, simulated extra-vehicular activity,
telepresence | |||
| Specialization, fan-out, and multi-human/multi-robot supervisory control | | BIBAK | Full-Text | 147-148 | |
| Jonathan M. Whetten; Michael A. Goodrich | |||
| This paper explores supervisory control of multiple, heterogeneous,
independent robots by operator teams. Experimental evidence is presented which
suggests that two cooperating operators may have free capacity that can be used
to improve primary task performance without increasing average fan-out. Keywords: human-robot interaction, multi-user interface | |||
| Practical evaluation of robots for elderly in Denmark: an overview | | BIBAK | Full-Text | 149-150 | |
| Soren Tranberg Hansen; Hans Jorgen Andersen; Thomas Bak | |||
| Robots for elderly have drawn a great deal of attention as it is a
controversial topic being pushed forward by the fact that there will be a
dramatic increase of elderly in most western countries. Within the field of
HRI, much research has been conducted on robots interacting with elderly and
also a number of commercial products have been introduced to the market. Since
2006, a number of projects have been launched in Denmark in order to evaluate
robot technology in practice in elder care. This paper gives an brief overview
of a selected number of projects and outlines the characteristics and results.
Finally it is discussed how HRI can benefit from these. Keywords: commercial robots, elderly, evaluation | |||
| Human performance moderator functions for human-robot peer-based teams | | BIBAK | Full-Text | 151-152 | |
| Caroline E. Harriott; Julie A. Adams | |||
| Interaction between humans and robots in peer-based teams can be
dramatically affected by human performance. Our research is focused on
determining if existing human performance moderator functions apply to
peer-based human-robot interaction and if not, how such functions must be
modified. Our initial work focuses on modeling workload. Validation of the
models will require human subject evaluations. Future work will incorporate
larger numbers of performance moderator functions and will apply the results to
distributing tasks to team members. Keywords: human performance modeling, human performance moderator functions,
human-robot teams | |||
| Photograph-based interaction for teaching object delivery tasks to robots | | BIBAK | Full-Text | 153-154 | |
| Sunao Hashimoto; Andrei Ostanin; Masahiko Inami; Takeo Igarashi | |||
| Personal photographs are important media for communication in our daily
lives. People take photos to remember things about themselves and show them to
others to share the experience. We expect that a photograph can be useful tool
for teaching a task to a robot. We propose a novel human-robot interaction
using photographs. The user takes a photo to remember the target in a
real-world situation involving a task and shows it to the system to make it
physically execute the task. We developed a prototype system in which the user
took a photo of a dish arrangement on a table and showed it to the system later
to then have a small robot deliver and arrange the dishes in the same way. Keywords: delivery robots, object arrangement, photograph-based interaction | |||
| Human-robot collaboration for a shared mission | | BIBAK | Full-Text | 155-156 | |
| Abir-Beatrice Karami; Laurent Jeanpierre; Abdel-Illah Mouaddib | |||
| We are interested in collaboration domains between a robot and a human
partner, the partners share a common mission without an explicit communication
about their plans. The decision process of the robot agent should consider the
presence of its human partner. Also, the robot planning should be flexible to
human comfortability and all possible changes in the shared environment. To
solve the problem of human-robot collaboration with no communication, we
present a model that gives the robot the ability to build a belief over human
intentions in order to predict his goals, this model counts mainly on observing
the human actions. We integrate this prediction into a Partially Observable
Markov Decision Process (POMDP) model to achieve the most appropriate and
flexible decisions for the robot. Keywords: human-robot collaboration, pomdp | |||
| Humanoid robot vs. projector robot: exploring an indirect approach to human robot interaction | | BIBAK | Full-Text | 157-158 | |
| Eun Kwon; Gerard Jounghyun Kim | |||
| In this paper, we compare the efficiency in information transfer and user
acceptance between the traditional humanoid robot and the projector robot. Keywords: humanoid, projector, robot, user acceptance | |||
| Dona: urban donation motivating robot | | BIBAK | Full-Text | 159-160 | |
| Min Su Kim; Byung Keun Cha; Dong Min Park; Sae Mee Lee; Sonya Kwak; Min Kyung Lee | |||
| The rate of donations made by individuals is relatively low in Korea when
compared to other developed countries. To address this problem, we propose the
DONA, an urban donation motivating robot prototype. The robot roams around in a
public space and solicits donation from passers-by by engaging them through a
pet like interaction. In this paper, we present the prototype of the robot and
our design process. Keywords: charity, donation, emotion, human-robot interaction, interaction design,
ludic experience, pet-like interaction | |||
| Design targeting voice interface robot capable of active listening | | BIBAK | Full-Text | 161-162 | |
| Yuka Kobayashi; Daisuke Yamamoto; Toshiyuki Koga; Sachie Yokoyama; Miwako Doi | |||
| The EU, South Korea and Japan have a pressing need to compensate for growing
labor shortages in their aging societies. There is growing awareness that
robotic technology has the potential to ameliorate this problem in terms of
both physical and mental labor. To take an example of mental labor, a human
therapist dealing with elderly people must be an active listener. In order to
realize a robot capable of active listening, we adopt Ivey's basic listening
sequence skills in microcounseling. In this paper, we describe a voice
interface robot that realizes simple feedback, repeat feedback and questions
for Ivey's basic listening sequence. We conducted an experiment, whose results
show that 69% of incidences of feedback have adequate reflective words for
spoken sentences and 56% of questions are adequate for these reflective words. Keywords: active listening, dialogue, interaction, microcounseling, non-verbal, verbal | |||
| Users' reactions toward an on-screen agent appearing on different media | | BIBAK | Full-Text | 163-164 | |
| Takanori Komatsu; Yuuki Seki | |||
| We experimentally investigated users' reactions toward an on-screen agent
appearing on three different types of media: a 42-inch television, 17-inch
display, and 4.5-inch mobile PC. Specifically, we observed whether the users
accepted the agent's invitation to a Shiritori game while they were engaged in
given tasks. The results showed that most participants who received the
invitation from the on-screen agent appearing on a 4.5-inch mobile PC accepted
the agent's invitation, while most participants did not accept the invitation
from the agent appearing on the other two formats. Therefore, the mobile PC
appears to be an appropriate media for an on-screen agent that is required for
interaction with users. Keywords: media terminals, on-screen agent, Shiritori game | |||
| 5w viewpoints associative topic search for networked conversation support system | | BIBAK | Full-Text | 165-166 | |
| Yukitaka Kusumura; Hironori Mizuguchi; Dai Kusui; Yoshio Ishizawa; Yusuke Muraoka | |||
| To build up spontaneous conversation, it is important to select topics
without a feeling of strangeness. When someone notices others are not
interested in a topic, he/she tries to find a new topic. Then, he/she thinks of
viewpoints of the conversation and selects a topic associated with the current
topic from the viewpoints. To automate viewpoint-based topic selection, we
present 5W viewpoint associative topic search. The method estimates the weights
of 5W viewpoints (who, what, where, when and why) from conversation, to use an
appropriate similarity to search for the next topic. Keywords: conversation support, topic search and associative search | |||
| Dialogue patterns of an Arabic robot receptionist | | BIBAK | Full-Text | 167-168 | |
| Maxim Makatchev; Imran Fanaswala; Ameer Abdulsalam; Brett Browning; Wael Ghazzawi; Majd Sakr; Reid Simmons | |||
| Hala is a bilingual (Arabic and English) culturally-sensitive robot
receptionist located at Carnegie Mellon University in Qatar. We report results
from Hala's deployment by comparing her English dialogue corpus to that of a
similar monolingual robot (named "Tank") located at CMU's Pittsburgh campus.
Specifically, we compare the average number of turns per interaction, duration
of interactions, frequency of interactions with personal questions, rate of
non-understandings, and rate of thanks after the robot's answer. We provide
possible explanations for observed similarities and differences and highlight
potential cultural implications on the interactions. Keywords: conversational agents, culture, human-robot interaction, natural language
dialogue, social robots | |||
| Modular control for human motion analysis and classification in human-robot interaction | | BIBAK | Full-Text | 169-170 | |
| Juan Alberto Rivera-Bautista; Ana Cristina Ramirez-Hernandez; Virginia A. Garcia-Vega; Antonio Marin-Hernandez | |||
| Trajectories followed by the humans can be interpreted as an attitude
gesture. Based on this interpretation an autonomous mobile robot can decide how
to initiate interaction with a given human. In this work is presented a modular
control system to analyze human walking trajectories in order to engage a robot
on a Human-Robot interaction. When the robot detects a human with their vision
system a visual tracking module begins to work over the Pan/Tilt/Zoom (PTZ)
camera unit. Camera parameters configuration and global robot localization are
then used by another module to filter and track human's legs over the laser
range finder (LRF) data. Path followed by the human over the global reference
frame is then processed by another module which determines the kind of attitude
showed by the human. Based on the result the robot decides if an interaction is
needed and who is expected to begin it. At this moment are used only three
kinds of attitudes: confidence, curiosity and nervousness. Keywords: attitude interpretation, human walking gestures, human-robot interaction,
sensor fusion | |||
| A panoramic vision system for human-robot interaction | | BIBAK | Full-Text | 171-172 | |
| Ester Martínez; Angel P. del Pobil | |||
| We have proposed a new approach for solving a fundamental issue in HRI, that
is, how to properly detect and identify people in everyday environments since
some conditions might make it a difficult task. For that, fisheye cameras are
used since they provide panoramic vision and one or two of them allow to cover
the whole workspace. A modified background maintenance approach was developed
for fast, robust motion detection; while person identification for interaction
is dealt with Viola-Jones classifier, although, instead of searching in the
whole image, its input is only composed of the detected moving elements.
Moreover, in order to avoid restricting the system autonomy by requiring the
person has to face the system any time, once a person is identified as a target
for interaction, they are tracked by using another designed method. We have
also carried out an implementation of the proposed approach and a comparative
experiment to assess its feasibility. Keywords: maintenance background, motion detection, segmentation, tracking | |||
| Multimodal human-humanoid interaction using motions, brain NIRS and spike trains | | BIBAK | Full-Text | 173-174 | |
| Yasuo Matsuyama; Nimiko Ochiai; Takashi Hatakeyama; Keita Noguchi | |||
| Heterogeneous bio-signals including human motions, brain NIRS and neural
spike trains are utilized for operating biped humanoids. The Bayesian network
comprising Hidden Markov Models and Support Vector Machines is designed for the
signal integration. By this method, the system complexity is reduced so that
that total operation is within the scope of PCs. The designed system is capable
of transducing original sensory meaning to another. This leads to prosthesis,
rehabilitation and gaming. In addition to the supervised mode, the humanoid can
act autonomously for its own designed tasks. Keywords: brain NIRS, hmm/svm-embedded bn, human-humanoid interaction, motion
recognition, multimodal, neural spike train, non-verbal, sensory transducing | |||
| Changes of utterances in the skill acquisition of collaborative conveyer task | | BIBAK | Full-Text | 175-176 | |
| Shuichi Nakata; Harumi Kobayashi; Satoshi Suzuki; Hiroshi Igarashi | |||
| Importance of developing human adaptive robots or systems is increasing
these days. To accomplish it, we have to clarify features of human-human
communication. In this study, we analyzed human speech while completing
computerized collaborate task to clarify how humans speak in collaborative
work. We extracted questioning speeches from conversations using CLAN, and
classified them into four categories according to their content. We
investigated whether the number and ratio of each type of questions changed
over ten trials. The results indicate that leader role person is sensitive to
task planning. Keywords: collaborative task, corpus study, speech analysis | |||
| Intuitive multimodal interaction for service robots | | BIBAK | Full-Text | 177-178 | |
| Matthias Nieuwenhuisen; Jörg Stückler; Sven Behnke | |||
| Domestic service tasks require three main skills from autonomous robots:
robust navigation in indoor environments, flexible object manipulation, and
intuitive communication with the users. In this report, we present the
communication skills of our anthropomorphic service and communication robots
Dynamaid and Robotinho. Both robots are equipped with an intuitive multimodal
communication system, including speech synthesis and recognition, gestures and
mimic. We evaluate our systems in the @Home league of the RoboCup competitions
and in a museum tour guide scenario. Keywords: anthropomorphism, multimodal human-robot-interaction, service robotics | |||
| Toward the body image horizon: how do users recognize the body of a robot? | | BIBAK | Full-Text | 179-180 | |
| Hirotaka Osawa; Yuji Matsuda; Ren Ohmura; Michita Imai | |||
| In this study, we investigated the boundary for recognizing robots. Many
anthropomorphic robots are used for interactions with users. These robots show
various body forms and appearances, which are recognized by their users. This
ability to recognize a variety of robotic appearances suggests that a user can
recognize a wide range of imaginary body forms compared with the native human
appearance. We attempted to determine the boundary for the recognition of robot
appearances. On the basis of our previous studies, we hypothesized that the
discrimination of robot appearances depends of the order of the parts. If the
body parts of a robot are placed in order from top to bottom, the user can
recognize the assembly as a robot body. We performed a human-robot experiment
in which we compared the results for robots with ordered parts with those for
robots with inverted parts. The result showed that the users' perception of the
robot's body differed between the two groups. This result confirms our
hypothesized boundary for the recognition of robot appearances. Keywords: anthropomorphization, design, human agent interaction, human interface,
human-robot interaction | |||
| Solving ambiguities with perspective taking | | BIBAK | Full-Text | 181-182 | |
| Raquel Ros; Emrah Akin Sisbot; Rachid Alami; Jasmin Steinwender; Katharina Hamann; Felix Warneken | |||
| Humans constantly generate and solve ambiguities while interacting with each
other in their every day activities. Hence, having a robot that is able to
solve ambiguous situations is essential if we aim at achieving a fluent and
acceptable human-robot interaction. We propose a strategy that combines three
mechanisms to clarify ambiguous situations generated by the human partner. We
implemented our approach and successfully performed validation tests in several
different situations both, in simulation and with the HRP-2 robot. Keywords: human-robot interaction, perspective taking | |||
| Validating interaction patterns in HRI | | BIBAK | Full-Text | 183-184 | |
| Peter H., Jr. Kahn; Brian T. Gill; Aimee L. Reichert; Takayuki Kanda; Hiroshi Ishiguro; Jolina H. Ruckert | |||
| In recent work, "interaction patterns" have been proposed as a means to
characterize essential features of human-robot interaction. A problem arises,
however, in knowing whether the interaction patterns generated are valid. The
same problem arises when researchers in HRI propose other broad
conceptualizations that seek to structure social interaction. In this paper, we
address this general problem by distinguishing three ways of establishing the
validity of interaction patterns. The first form of validity seeks to establish
whether the conclusions about interaction patterns are warranted from the data.
The second seeks to establish whether the interaction patterns account for the
data. And the third seeks to provide sound reasons for the labels of the
patterns themselves. Often these three forms of validity are confused in
discussions about conceptual categories in HRI. Keywords: human-robot interaction, interaction patterns, validity | |||
| A study of three interfaces allowing non-expert users to teach new visual objects to a robot and their impact on learning efficiency | | BIBAK | Full-Text | 185-186 | |
| Pierre Rouanet; Pierre-Yves Oudeyer; David Filliat | |||
| We developed three interfaces to allow non-expert users to teach name for
new visual objects and compare them through user's studies in term of learning
efficiency. Keywords: human-robot interaction, interfaces, joint attention, learning, social
robotics | |||
| Help me help you: interfaces for personal robots | | BIBK | Full-Text | 187-188 | |
| Ian J. Goodfellow; Nate Koenig; Marius Muja; Caroline Pantofaru; Alexander Sorokin; Leila Takayama | |||
Keywords: hri, information theory, mobile user interface | |||
| The hesitation of a robot: a delay in its motion increases learning efficiency and impresses humans as teachable | | BIBAK | Full-Text | 189-190 | |
| Kazuaki Tanaka; Motoyuki Ozeki; Natsuki Oka | |||
| If robots learn new actions through human-robot interaction, it is important
that the robots can utilize rewards as well as instructions to reduce humans'
efforts. Additionally, "interval" which allows humans to give instructions and
evaluations is also important. We hence focused on "delays in initiating
actions" and changed them according to the progress of learning: long delays at
early stages, and short at later stages. We compared the proposed varying delay
with a constant delay by an experiment. The result demonstrated that the
varying delay improves learning efficiency significantly and impresses humans
as teachable. Keywords: delay, hesitation, learning efficiency, teachability | |||
| Can a robot deceive humans? | | BIBAK | Full-Text | 191-192 | |
| Kazunori Terada; Akira Ito | |||
| In the present study, we investigated whether a robot is able to deceive a
human by producing a behavior against him/her prediction. A feeling of being
deceived by a robot would be a strong indicator that the human treat the robot
as an intentional entity. We conducted a psychological experiment in which a
subject played Darumasan ga Koronda, a Japanese children's game, with a robot.
A main strategy to deceive a subject was to make his/her mind believe that the
robot is stupid so as not to be able to move quickly. The experimental result
indicated that unexpected change of a robot behavior gave rise to an impression
of being deceived by the robot. Keywords: deception, intention attribution, theory of mind | |||
| Developing heuristics for assistive robotics | | BIBK | Full-Text | 193-194 | |
| Katherine M. Tsui; Kareem Abu-Zahra; Renato Casipe; Jason M'Sadoques; Jill L. Drury | |||
Keywords: heuristic evaluation, human-robot interaction | |||
| Effect of social robot's behavior in collaborative learning | | BIBAK | Full-Text | 195-196 | |
| Hirohide Ushida | |||
| This paper describes about the effect of social robot's behavior on human
performance. The robot behaves based on an artificial mind model, and it
expresses emotions according to the situation. In this research, we consider
about the case where human and the robot learn cooperatively. The robot
emotionally reacts to the joint learner's success and failure. The experimental
result shows that social behavior of the robot influences the performance of
human learners. Keywords: human-robot interaction, personality, social robot | |||
| STB: human-dependent sociable trash box | | BIBAK | Full-Text | 197-198 | |
| Yuto Yamaji; Taisuke Miyake; Yuta Yoshiike; P. Ravindra S. De Silva; Michio Okada | |||
| We developed a Sociable Trash Box (STB) as a children-assisted robot able to
collect the trash in order to convey its intentional stance to children. The
STB is capable of engaging manifold affiliation behaviors to build a social
rapport with children by collecting the trash around their environment. In
particular, the STB is a child-dependent robot that walks alone in a public
space for tracing humans and trash for the purpose of collecting the trash. The
robot is incapable of collecting the trash by itself, and it engages by using
interactive behaviors and vocalizations to make a social coupling with children
based on the robot's anticipation to accomplish its goal. The present
experiment investigates how STB behaviors are effective in conveying intentions
to evoke children's social interactions and to assist in collecting the trash
in their environment. Keywords: intentional stance, sociable trash box, social coupling | |||
| Relationships between user experiences and children's perceptions of the education robot | | BIBAK | Full-Text | 199-200 | |
| Eunja Hyun; Hyunmin Yoon; Sooryun Son | |||
| The purpose of this study is to investigate the biological, mental, social,
moral, and educational perceptions of young children of the intelligent robot
iRobiQ and to explore the effects of user experience on them. The interview was
conducted with 111 five-year-old children attending two kindergartens and two
childcare centers in which iRobiQ had been purchased and had been in use since
March 2009. The young children interacted with the robot for one hour or less
everyday over a period of two weeks or less. The robot contents were related to
the socio-emotional perceptions of robots and had a high level of human-robot
interactions, such as "Talking with the Robot" or "Attendance Check." Children
who experienced the "voice" and "touch screen" functions of the robot showed
higher educational perception. The social and educational perception was higher
when the robot was placed in a classroom than when it was placed in the hallway
or in the office. The results indicated that robot content focusing on
socio-emotional characteristics should be developed for educational purposes
and that a robot should be placed in the classroom for individual use. Keywords: education robot, perception of robot, user experience | |||
| Dance partner robot: an engineering approach to human-robot interaction | | BIBAK | Full-Text | 201 | |
| Kazuhiro Kosuge | |||
| A Dance Partner Robot, PBDR (Partner Ball Room Dance Robot), dances a waltz
as a female dancer together with a human male dancer. The waltz, a ball room
dance, is usually performed by a male dancer and a female dancer, and consists
of a certain number of steps, and transition of the steps. The dance is lead by
the male dancer based on the transition rule of the dance. The female dance
partner estimates the following step through physical interactions with the
male dancer. The dance partner robot has a database about the waltz and its
transition rule for estimating the following dance step and generating an
appropriate step motion. The step estimation is done based on the time-series
data of the force/torque applied by the male dancer to the robot upper body.
The robot motion is generated for the estimated step using the step motion in
the database compliantly against the interface force/moment between the human
dancer and the robot in real time. The development of the dance partner robot
has suggested us a lot of important issues for robots having interaction with a
human. Why we are developing the dance partner robot and how the concept will
be applied to other robot systems will be discussed in the presentation. Keywords: dance partner robot, human robot interaction | |||
| Gracefully mitigating breakdowns in robotic services | | BIBAK | Full-Text | 203-210 | |
| Min Kyung Lee; Sara Kielser; Jodi Forlizzi; Siddhartha Srinivasa; Paul Rybski | |||
| Robots that operate in the real world will make mistakes. Thus, those who
design and build systems will need to understand how best to provide ways for
robots to mitigate those mistakes. Building on diverse research literatures, we
consider how to mitigate breakdowns in services provided by robots.
Expectancy-setting strategies forewarn people of a robot's limitations so
people will expect mistakes. Recovery strategies, including apologies,
compensation, and options for the user, aim to reduce the negative consequence
of breakdowns. We tested these strategies in an online scenario study with 317
participants. A breakdown in robotic service had severe impact on evaluations
of the service and the robot, but forewarning and recovery strategies reduced
the negative impact of the breakdown. People's orientation toward services
influenced which recovery strategy worked best. Those with a relational
orientation responded best to an apology; those with a utilitarian orientation
responded best to compensation. We discuss robotic service design to mitigate
service problems. Keywords: error recovery, human-robot interaction, robot breakdown, robot error,
service recovery, services, social robot | |||
| Critic, compatriot, or chump?: responses to robot blame attribution | | BIBAK | Full-Text | 211-218 | |
| Victoria Groom; Jimmy Chen; Theresa Johnson; F. Arda Kara; Clifford Nass | |||
| As their abilities improve, robots will be placed in roles of greater
responsibility and specialization. In these contexts, robots may attribute
blame to humans in order to identify problems and help humans make sense of
complex information. In a between-participants experiment with a single factor
(blame target) and three levels (human blame vs. team blame vs. self blame)
participants interacted with a robot in a learning context, teaching it their
personal preferences. The robot performed poorly, then attributed blame to
either the human, the team, or itself. Participants demonstrated a powerful and
consistent negative response to the human-blaming robot. Participants preferred
the self-blaming robot over both the human and team blame robots. Implications
for theory and design are discussed. Keywords: blame attribution, face-threatening acts, human-robot interaction,
politeness | |||
| No fair!!: an interaction with a cheating robot | | BIBAK | Full-Text | 219-226 | |
| Elaine Short; Justin Hart; Michelle Vu; Brian Scassellati | |||
| Using a humanoid robot and a simple children's game, we examine the degree
to which variations in behavior result in attributions of mental state and
intentionality. Participants play the well-known children's game
"rock-paper-scissors" against a robot that either plays fairly, or that cheats
in one of two ways. In the "verbal cheat" condition, the robot announces the
wrong outcome on several rounds which it loses, declaring itself the winner. In
the "action cheat"' condition, the robot changes its gesture after seeing its
opponent's play. We find that participants display a greater level of social
engagement and make greater attributions of mental state when playing against
the robot in the conditions in which it cheats. Keywords: affective & emotional responses, beliefs about robots, mental models of
robot behavior | |||
| UAV video coverage quality maps and prioritized indexing for wilderness search and rescue | | BIBAK | Full-Text | 227-234 | |
| Bryan S. Morse; Cameron H. Engh; Michael A. Goodrich | |||
| Video-equipped mini unmanned aerial vehicles (mini-UAVs) are becoming
increasingly popular for surveillance, remote sensing, law enforcement, and
search and rescue operations, all of which rely on thorough coverage of a
target observation area. However, coverage is not simply a matter of seeing the
area (visibility) but of seeing it well enough to allow detection of targets of
interest, a quality we here call "see-ability". Video flashlights, mosaics, or
other geospatial compositions of the video may help place the video in context
and convey that an area was observed, but not necessarily how well or how
often. This paper presents a method for using UAV-acquired video georegistered
to terrain and aerial reference imagery to create geospatial video coverage
quality maps and indices that indicate relative video quality based on
detection factors such as image resolution, number of observations, and variety
of viewing angles. When used for offline post-analysis of the video, or for
online review, these maps also enable geospatial quality-filtered or
prioritized non-sequential access to the video. We present examples of static
and dynamic see-ability coverage maps in wilderness search-and-rescue
scenarios, along with examples of prioritized non-sequential video access. We
also present the results of a user study demonstrating the correlation between
see-ability computation and human detection performance. Keywords: coverage quality maps, unmanned aerial vehicles, video indexing, wilderness
search and rescue | |||
| Single operator, multiple robots: an eye movement based theoretic model of operator situation awareness | | BIBAK | Full-Text | 235-242 | |
| Raj M. Ratwani; J. Malcolm McCurry; J. Gregory Trafton | |||
| For a single operator to effectively control multiple robots, operator
situation awareness is a critical component of the human-robot system. There
are three levels of situation awareness: perception, comprehension, and
projection into the future [1]. We focus on the perception level to develop a
theoretic model of the perceptual-cognitive processes underlying situation
awareness. Eye movement measures were developed as indicators of cognitive
processing and these measures were used to account for operator situation
awareness on a supervisory control task. The eye movement based model
emphasizes the importance of visual scanning and attention allocation as the
cognitive processes that lead to operator situation awareness and the model
lays the groundwork for real-time prediction of operator situation awareness. Keywords: eye tracking, human-robot system, situation awareness, supervisory control | |||
| Multimodal interaction with an autonomous forklift | | BIBAK | Full-Text | 243-250 | |
| Andrew Correa; Matthew R. Walter; Luke Fletcher; Jim Glass; Seth Teller; Randall Davis | |||
| We describe a multimodal framework for interacting with an autonomous
robotic forklift. A key element enabling effective interaction is a wireless,
handheld tablet with which a human supervisor can command the forklift using
speech and sketch. Most current sketch interfaces treat the canvas as a blank
slate. In contrast, our interface uses live and synthesized camera images from
the forklift as a canvas, and augments them with object and obstacle
information from the world. This connection enables users to "draw on the
world," enabling a simpler set of sketched gestures. Our interface supports
commands that include summoning the forklift and directing it to lift,
transport, and place loads of palletized cargo. We describe an exploratory
evaluation of the system designed to identify areas for detailed study.
Our framework incorporates external signaling to interact with humans near the vehicle. The robot uses audible and visual annunciation to convey its current state and intended actions. The system also provides seamless autonomy handoff: any human can take control of the robot by entering its cabin, at which point the forklift can be operated manually until the human exits. Keywords: autonomous, forklift, interaction, robotic, tablet | |||
| Following directions using statistical machine translation | | BIBAK | Full-Text | 251-258 | |
| Cynthia Matuszek; Dieter Fox; Karl Koscher | |||
| Mobile robots that interact with humans in an intuitive way must be able to
follow directions provided by humans in unconstrained natural language. In this
work we investigate how statistical machine translation techniques can be used
to bridge the gap between natural language route instructions and a map of an
environment built by a robot. Our approach uses training data to learn to
translate from natural language instructions to an automatically-labeled map.
The complexity of the translation process is controlled by taking advantage of
physical constraints imposed by the map. As a result, our technique can
efficiently handle uncertainty in both map labeling and parsing. Our
experiments demonstrate the promising capabilities achieved by our approach. Keywords: human-robot interaction, instruction following, natural language,
navigation, statistical machine translation | |||
| Toward understanding natural language directions | | BIBAK | Full-Text | 259-266 | |
| Thomas Kollar; Stefanie Tellex; Deb Roy; Nicholas Roy | |||
| Speaking using unconstrained natural language is an intuitive and flexible
way for humans to interact with robots. Understanding this kind of linguistic
input is challenging because diverse words and phrases must be mapped into
structures that the robot can understand, and elements in those structures must
be grounded in an uncertain environment. We present a system that follows
natural language directions by extracting a sequence of spatial description
clauses from the linguistic input and then infers the most probable path
through the environment given only information about the environmental geometry
and detected visible objects. We use a probabilistic graphical model that
factors into three key components. The first component grounds landmark phrases
such as "the computers" in the perceptual frame of the robot by exploiting
co-occurrence statistics from a database of tagged images such as Flickr.
Second, a spatial reasoning component judges how well spatial relations such as
"past the computers" describe a path. Finally, verb phrases such as "turn
right" are modeled according to the amount of change in orientation in the
path. Our system follows 60% of the directions in our corpus to within 15
meters of the true destination, significantly outperforming other approaches. Keywords: direction understanding, route instructions, spatial language | |||
| Robot-directed speech: using language to assess first-time users' conceptualizations of a robot | | BIBAK | Full-Text | 267-274 | |
| Sarah Kriz; Gregory Anderson; J. Gregory Trafton | |||
| It is expected that in the near-future people will have daily natural
language interactions with robots. However, we know very little about how users
feel they should talk to robots, especially users who have never before
interacted with a robot. The present study evaluated first-time users'
expectations about a robot's cognitive and communicative capabilities by
comparing robot-directed speech to the way in which participants talked to a
human partner. The results indicate that participants spoke more loudly, raised
their pitch, and hyperarticulated their messages when they spoke to the robot,
suggesting that they viewed the robot as having low linguistic competence.
However, utterances show that speakers often assumed that the robot had
humanlike cognitive capabilities. The results suggest that while first-time
users were concerned with the fragility of the robot's speech recognition
system, they believed that the robot had extremely strong information
processing capabilities. Keywords: human-robot communication, natural language, spatial language | |||
| Robust spoken instruction understanding for HRI | | BIBAK | Full-Text | 275-282 | |
| Rehj Cantrell; Matthias Scheutz; Paul Schermerhorn; Xuan Wu | |||
| Natural human-robot interaction requires different and more robust models of
language understanding (NLU) than non-embodied NLU systems. In particular,
architectures are required that (1) process language incrementally in order to
be able to provide early backchannel feedback to human speakers; (2) use
pragmatic contexts throughout the understanding process to infer missing
information; and (3) handle the underspecified, fragmentary, or otherwise
ungrammatical utterances that are common in spontaneous speech. In this paper,
we describe our attempts at developing an integrated natural language
understanding architecture for HRI, and demonstrate its novel capabilities
using challenging data collected in human-human interaction experiments. Keywords: dialogue interactions, integrated architecture, natural human-robot
interaction, natural language processing | |||
| Action understanding and gesture acquisition in the great apes | | BIBAK | Full-Text | 283 | |
| Josep Call | |||
| A growing number of scholars have suggested that gestural communication may
have been especially important in the early stages of language origins. Of
special interest in this debate is the communication of other primates,
especially those most closely related to humans, the great apes. The aim of
this talk is to explore the interrelations between instrumental actions, action
understanding and gesture generation in humans and other apes. In doing so, I
will contrast the similarities and differences in the use and comprehension of
gestures in humans and apes. Like humans, apes use gestures flexibly and they
can even learn new gestures. Unlike humans, however, imitative learning does
not seem to be the main mechanism underlying gesture acquisition in great apes.
Instead apes seem to learn many of their gestures in social interaction with
others via processes of ontogenetic ritualization by means of which
instrumental actions are transformed into gestures. Like humans, apes can
extract information about the goals contained in the actions of others but
there is much less evidence that they also grasp some of the representational
properties of certain kinds of gestures and the communicative intentions behind
them. Keywords: gesture acquisition, great apes | |||
| Reconfiguring spatial formation arrangement by robot body orientation | | BIBAK | Full-Text | 285-292 | |
| Hideaki Kuzuoka; Yuya Suzuki; Jun Yamashita; Keiichi Yamazaki | |||
| An information-presenting robot is expected to establish an appropriate
spatial relationship with people. Drawing upon sociological studies of spatial
relationships involving "F-formation" and "body torque," we examined the effect
of a robot rotating its body on the reconfiguration of the F-formation
arrangement. The results showed that a robot can change the position of a
visitor by rotating its body. We also confirmed that to reconfigure the
F-formation arrangement, it is more effective to rotate the whole body of the
robot than only its head. Keywords: body torque, communication robot, f-formation, human-robot interaction | |||
| Head motions during dialogue speech and nod timing control in humanoid robots | | BIBAK | Full-Text | 293-300 | |
| Carlos T. Ishi; ChaoRan Liu; Hiroshi Ishiguro; Norihiro Hagita | |||
| Head motion naturally occurs in synchrony with speech and may carry
paralinguistic information, such as intention, attitude and emotion, in
dialogue communication. With the aim of verifying the relationship between head
motion and the dialogue acts carried by speech, analyses were conducted on
motion-captured data for several speakers during natural dialogues. The
analysis results first confirmed the trends of our previous work, showing that
regardless of the speaker, nods frequently occur during speech utterances, not
only for expressing dialogue acts such as agreement and affirmation, but also
appearing at the last syllable of the phrase, in strong phrase boundaries,
especially when the speaker is talking confidently, or expressing interest in
the interlocutor's talk. Inter-speaker variability indicated that the frequency
of head motion may vary according to the speaker's age or status, while
intra-speaker variability indicated that the frequency of head motion also
differs depending on the inter-personal relationship with the interlocutor. A
simple model for generating nods based on rules inferred from the analysis
results was proposed and evaluated in two types of humanoid robots. Subjective
scores showed that the proposed model could generate head motions with
naturalness comparable to the original motions. Keywords: dialogue act, head motion, humanoid robot, nodding generation | |||
| Pointing to space: modeling of deictic interaction referring to regions | | BIBAK | Full-Text | 301-308 | |
| Yasuhiko Hato; Satoru Satake; Takayuki Kanda; Michita Imai; Norihiro Hagita | |||
| In daily conversation, we sometimes observe a deictic interaction scene that
refers to a region in a space, such as saying "please put it over there" with
pointing. How can such an interaction be possible with a robot? Is it enough to
simulate people's behaviors, such as utterance and pointing? Instead, we
highlight the importance of simulating human cognition. In the first part of
our study, we empirically demonstrate the importance of simulating human
cognition of regions when a robot engages in a deictic interaction by referring
to a region in a space. The experiments indicate that a robot with simulated
cognition of regions improves efficiency of its deictic interaction. In the
second part, we present a method for a robot to computationally simulate
cognition of regions. Keywords: cognition of regions, communicating about regions, pointing gesture, social
robots, spatial deixis | |||
| Investigating multimodal real-time patterns of joint attention in an hri word learning task | | BIBAK | Full-Text | 309-316 | |
| Chen Yu; Matthias Scheutz; Paul Schermerhorn | |||
| Joint attention -- the idea that humans make inferences from observable
behaviors of other humans by attending to the objects and events that these
others humans attend to -- has been recognized as a critical component in
human-robot interactions. While various HRI studies showed that having robots
to behave in ways that support human recognition of joint attention leads to
better behavioral outcomes on the human side, there are no studies that
investigate the detailed time course of interactive joint attention processes.
In this paper, we present the results from an HRI study that investigates the exact time course of human multi-modal attentional processes during an HRI word learning task in an unprecedented way. Using novel data analysis techniques, we are able to demonstrate that the temporal details of human attentional behavior are critical for understanding human expectations of joint attention in HRI and that failing to do so can force humans into assuming unnatural behaviors. Keywords: human-robot interaction, joint attention | |||
| Transparent active learning for robots | | BIBAK | Full-Text | 317-324 | |
| Crystal Chao; Maya Cakmak; Andrea L. Thomaz | |||
| This research aims to enable robots to learn from human teachers. Motivated
by human social learning, we believe that a transparent learning process can
help guide the human teacher to provide the most informative instruction. We
believe active learning is an inherently transparent machine learning approach
because the learner formulates queries to the oracle that reveal information
about areas of uncertainty in the underlying model. In this work, we implement
active learning on the Simon robot in the form of nonverbal gestures that query
a human teacher about a demonstration within the context of a social dialogue.
Our preliminary pilot study data show potential for transparency through active
learning to improve the accuracy and efficiency of the teaching process.
However, our data also seem to indicate possible undesirable effects from the
human teacher's perspective regarding balance of the interaction. These
preliminary results argue for control strategies that balance leading and
following during a social learning interaction. Keywords: active learning, human-robot interaction, interactive learning, social
robots, socially guided machine learning | |||
| From manipulation to communicative gesture | | BIBAK | Full-Text | 325-332 | |
| Shichao Ou; Roderic Grupen | |||
| This paper advocates an approach for learning communicative actions and
manual skills in the same framework. We exploit a fundamental relationship
between the structure of motor skills, intention, and communication.
Communicative actions are acquired using the same learning framework and the
same primitive states and actions that the robot uses to construct manual
behavior for interacting with other objects in the environment. A prospective
behavior algorithm is used to acquire modular policies for conveying intention
and goals to nearby human beings and recruiting their assistance. The learning
framework and a preliminary case study are presented in which a humanoid robot
learns expressive communicative behavior incrementally by discovering the
manual affordances of human beings. Results from interactions with 16 people
provide support for the hypothesized benefits of this approach. Behavior reuse
makes learning from relatively few interactions possible. This approach
compliments other efforts in the field by grounding social behavior, and
proposes a mechanism for negotiating a communicative vocabulary between humans
and robots. Keywords: communicative behavior, developmental robotics, human-robot interaction,
knowledge acquisition | |||
| A trial English class with a teaching assistant robot in elementary school | | BIBAK | Full-Text | 335-336 | |
| Jeonghye Han; Seungmin Lee Lee; Bokhyun Kang; Sungju Park; Jungkwan Kim; Myungsook Kim; Mihee Kim | |||
| Various studies propose that robots can be an effective tool for language
teaching and learning. Especially they have been remarkably successful in
elementary English classes [1][2][3][4]. The purpose of this study was to
investigate some effects of a teaching assistant robot, Langbot, in elementary
English classes in Korea. We adopted IROBIQ as Longbot for a pilot study.
We designed some activities for elementary English classes using a teaching assistant robot, Langbot: introduction, look and listen, listen and say, look and say, act out, song and chant. The introduction includes the birth story of Langbot that children want to know where the robot comes from, how old it is, why it came to their classroom, etc, since Hur and Han (2009) found that the robot storytelling was working to increase children's tolerance toward the failure of recognition of a robot [2]. Keywords: English class, language learning, robot storytelling, teaching assistant
robot | |||
| Sociable trash box | | BIBAK | Full-Text | 337-338 | |
| Yuta Yoshiike; Yuto Yamaji; Taisuke Miyake; P. Ravindra S. De Silva; Michio Okada | |||
| The STB is capable of engaging manifold affiliation behaviors to build a
social rapport toward the goal of collecting trash around an environment. In
particular, STB is a child-dependent robot that walks alone in a public space
for the purpose of tracing humans and trash and to collect the trash. In a
crowded space, STBs move toward the trash by engaging with an attractive
twisting motion (behaviors) and vocal interaction to convey STB's intention to
children. Our STB robot is incapable of collecting the trash by itself. In this
sense, children have to infer a robot's intentional stance or expectation for
interaction with the STB. To collect trash while creating social rapport with
children is a novel concept. The STB engages with twisting and bowing motions
when children put trash into an STB container. Keywords: child-dependent robot, sociable trash box, social rapport | |||
| Dona: urban donation motivating robot | | BIBAK | Full-Text | 339-340 | |
| Min Su Kim; Byung Keun Cha; Dong Min Park; Sae Mee Lee; Sonya Kwak; Min Kyung Lee | |||
| The rate of donations made by individuals is relatively low in Korea when
compared to other developed countries. To address this problem, we propose the
DONA, an urban donation motivating robot prototype. The robot roams around in a
public space and solicits donation from passers-by by engaging them through a
pet like interaction. In this paper, we present the prototype of the robot and
our design process. Keywords: charity, donation, emotion, human-robot interaction, interaction design,
ludic experience, pet-like interaction | |||
| FusionBot: a barista robot -- fusionbot serving coffees to visitors during technology exhibition event | | BIBAK | Full-Text | 341-342 | |
| Dilip Kumar Limbu; Yeow Kee Tan; Lawrence T. C. Por | |||
| This video shows a service robot named FusionBot autonomously serving
coffees to visitors on their request, which occurred during two days-long
experiment in TechFest 2008 event. The coffee serving task involves taking
coffee order from a visitor, identifying a cup and smart coffee machine, moving
towards the coffee machine, communicating with the coffee machine and fetching
the coffee cup to the visitor.
The main purpose of this experiment is to explore and demonstrate the utility of an interactive service robot in smart home environment, thereby improving the quality of human life. Before conducting the experiments, visitors were given general procedural instructions and simple introduction on how the FusionBot works. Visitors then performed experiment tasks, i.e., ordering a cup of coffee. Thereafter, the visitors were asked to fill out the satisfaction questionnaires to find out their reaction and perception on the FusionBot. Of just over 100 survey questionnaires handed out, sixty eight (68) valid responses (i.e. 68%) were received. Over all, with regards to the FusionBot task satisfaction, more than half of respondents were satisfied with what the FusionBot can do. Nearly one quarter of the respondents indicated that it was not easy to communicate with the FusionBot. This could be due to occurrence of various background noises, which were falsely picked up by the FusionBot as speech input from the visitor. Similarly, less than one quarter indicated that it was not easy to learn how to use the FusionBot. This could be due to the not knowing what to do with the FusionBot and not knowing what the FusionBot does. The experiment was successful in two main dimensions; 1) the robot demonstrated the ability to interact with visitors and perform challenging real-world task autonomously, and 2) It provided some evidence towards the feasibility of using autonomous service robot and smart coffee machine to serve drink in a reception/home or acting as a host in an organization. While preliminary, the experiment also suggests that while developing a service robot; 1) static appearance is very important, 2) requires robust speech recognition and vision understanding, and finally 3) requires comprehensive training on speech and vision with respective data. Keywords: barista robot, human-robot interaction, service robot, social robotics | |||
| The step-on interface (SOI) on a mobile platform: basic functions | | BIBAK | Full-Text | 343-344 | |
| Takafumi Matsumaru; Yuichi Ito; Wataru Saitou | |||
| This video shows the basic functions of HFAMRO-2 equipped with the step-on
interface (SOI). In the SOI the projected screen is used as a bilateral
interface. It not only presents information from the equipment to the user but
also delivers the instructions from the user to the equipment. HFAMRO is
intended to represent the concept based on which robots interact with users. It
assumes, for example, the ability to play 'tag' -- in this case, playing tag
with light, similar to 'shadow' tag. The HFAMRO-2 mobile robot, developed to
study the SOI's application with mobility, has two sets of the SOI consisting
of a projector and a range scanner on a mobile platform. The projector displays
a direction screen on a travel surface and the two-dimensional range scanner
detects and measures the user's stepping to specify the selected button. Keywords: friendly-amusing mobile (fam) function, human-robot interaction, projector,
range scanner, step-on interface (soi) | |||
| The step-on interface (SOI) on a mobile platform: rehabilitation of the physically challenged | | BIBAK | Full-Text | 345-346 | |
| Takafumi Matsumaru; Yuichi Ito; Wataru Saitou | |||
| The rehabilitation of the physically challenged is one of the trial
applications of the step-on interface (SOI) on a mobile platform as the
friendly amusing mobile (FAM) function. This video shows the result of the
preliminary trial. Keywords: friendly-amusing mobile (fam) function, human-robot interaction, physically
challenged, rehabilitation, step-on interface (soi) | |||
| Robot rescue!: an HRI engineering outreach activity | | BIBAK | Full-Text | 347-348 | |
| Jonathan T. Morgan; Sarah Kriz | |||
| This video is an example of an engineering outreach activity that we
designed to illustrate some of the core issues in HRI research. High school
students attending the University of Washington 2009 Summer Math Academy were
given a disaster scenario and were asked think about how a robot could help a
victim who was trapped by fallen rubble during an earthquake. Students were led
through a series of thought questions that encouraged them to consider the type
of information the robot would need to give to the victim, the victim's family,
and the rescue team. They also considered how a victim might respond to a
robot, and the behaviors the robot should display during the rescue. The
students then created a script for the rescue scenario, writing not only their
own lines, but the behavior and communication of the robot as well. All
relevant consent forms were obtained from the participants prior to the
outreach event. Keywords: disaster scenarios, engineering outreach, human-robot interaction | |||
| Mysterious machines | | BIBAK | Full-Text | 349-350 | |
| Billy Schonenberg; Christoph Bartneck | |||
| Alan Turing proposed a test for the intelligence of machines in 1950 [1].
Despite great efforts, no computer has passed this test so far. Each year, chat
bots compete for the Loebner Prize, the first formal instantiation of a Turing
Test. No contender was able to fool the jury yet. Major problems of the chat
bots are the lack of common knowledge and the logical consistency of a
dialogue.
We explore a new approach to chat bots by focusing on non-logical conversation topics: mysticism. The founding books of the major religions are widely acknowledged examples of mystical topics. We selected the New Testament, the Koran and Rigveda as the knowledge base for our conversational robots. The robots are able to autonomously talk to each other and to humans about their religious believe. Each robot represents a belief, but we do not reveal their convictions. This ambiguity forces observers to follow the actual conversations instead of quickly applying stereotypes. Keywords: chatbot, exhibition, religion, Turing | |||
| Olivia @ TechFest 09: receptionist robot impressed visitors with lively interactions | | BIBAK | Full-Text | 351-352 | |
| Lawrence T. C. Por; Adrian Tay; Dilip Kumar Limbu | |||
| Olivia 2.0 is a Social Robot designed to interact and serve in office
environment as a Robotic Receptionist. This is the forth model of Service Robot
developed by A*STAR Robotics Team in Singapore.
For a start, the occupation & background story of Olivia as a receptionist has set a common ground between human and robot for interaction around topics fitting to the job. The use of vision technology enabled Olivia to detect the presence of a visitor standing in front of her so that she will initiate a dialogue. Through speech recognition technology and careful designed dialogue management system, visitors are able to converse with Olivia to know more about the amenities in Fusionopolis building as well as to engage in small talk. Taking the persona of a 5 years old kid, with a cute face and child voice, coupled with nice decorations has set the stage for a fun interaction time, as Olivia proceeds to engage the visitor to play a simple game that showcased object recognition and tracking capability. Olivia is built with advanced Mechatronics design with 13 degree of freedom for head, body and hands motions. The advance motion control algorithm and imitation learning software trained her well to display humanlike hand gestures and upper body movements. We noticed the lively gestures coupled with expressive robotic voice are very crucial to draw attention from human for the continuous engagement with Social Robot. We knew that this would be a valuable field trial opportunity whereby many visitors were having first encountering with service robot. We took advantage to study social acceptance by taking video recording for every human-robot interactions, follow by inviting visitors to participate in on-site feedback gathering with questionnaires. Of more than 100 questionnaires completed, 62% gave an overall rating of good and above, several expressed that the response of the robot is slow and 75.5% found that the robot is able to recognize their speech without any difficulties. The top 3 robot features that people would like to have in the robot are: fast response; clear way of talking; delivering relevant information. At the end of this technology exhibition over two days, more than 100 visitors interacted with Olivia for information enquiry and playing games. They were greatly impressed by her capabilities and above all they had a lot of fun interacting with her. Keywords: human-robot interaction, receptionist robot, service robot, social robotics | |||
| actDresses: interacting with robotic devices -- fashion and comics | | BIBAK | Full-Text | 353-354 | |
| Rob Tieben; Ylva Fernaeus; Mattias Jacobsson | |||
| Robotic devices, such as the Roomba vacuum cleaner, are customised and
personalised by their users, using for example signs, stickers and clothes.
The actDresses project explores how these metaphors from fashion and comics can be used in novel interactions with robotic devices. This movie shows one explorative prototype, where clothes and accessories are used to program the Roomba's behaviour. The clothes influence personality characteristics of the Roomba; the accessories, iconic flags, determine movement characteristics. Combined, the clothes and flags allow the user to create different types of behaviour. Keywords: exploration, interaction, physical languages, robots, semiotics, tangible
interaction | |||
| Selecting and commanding individual robots in a vision-based multi-robot system | | BIBAK | Full-Text | 355-356 | |
| Alex Couture-Beil; Richard T. Vaughan; Greg Mori | |||
| This video presents a computer vision based system for interaction between a
single human and multiple robots. Face contact and motion-based gestures are
used as two different non-verbal communication channels; a user first selects a
particular robot by simply looking at it, then assigns it a task by waving his
or her hand. Keywords: distributed system, face detection, gesture-controlled robot, human-robot
interaction, multi-robot system, task assignment | |||
| The articulated head pays attention | | BIBAK | Full-Text | 357-358 | |
| Christian Kroos; Damith C. Herath; A Stelarc | |||
| The Articulated Head (AH) is an artistic installation that consists of a LCD
monitor mounted on an industrial robot arm (Fanuc LR Mate 200iC) displaying the
head of a virtual human. It was conceived as the next step in the evolution of
Embodied Conversational Agents (ECAs) transcending virtual reality into the
physical space shared with the human interlocutor. Recently an attention module
has been added as part of a behavioural control system for non-verbal
interaction between robot/ECA and human.
Unstructured incoming perceptual information (currently originating from a custom acoustic localisation algorithm and a commercial people tracking software) is narrowed down to the most salient aspects allowing the generation of a single motor response. The requirements of the current task determine what salient means at any point in time, that is, the rules and associated thresholds and weights of the attention system are modified by the requirements of the current task while the task itself is specified by the central control system depending on the overall state of the AH with respect to the ongoing interaction. The attention system determines a single attended event using a winner-takes-all strategy and relays it to the central control system. It also directly generates a motor goal and forwards it to the motor system. The video shows how the robot's attention system drives its behaviour, (1) when there is no stimulus over an extended period of time, (2) when a person moves within its visual field, and (3) when a sudden loud auditory event attracts attention during an ongoing visually-based interaction (auditory-visual attention conflict). The subtitles are direct mappings from numeric descriptions of the central control system's internal states to slightly more entertaining English sentences. Keywords: attention model, embodied conversational agent, multimodal, robot arm | |||
| When in Rome: the role of culture & context in adherence to robot recommendations | | BIBAK | Full-Text | 359-366 | |
| Lin Wang; Pei-Luen Patrick Rau; Vanessa Evers; Benjamin Krisper Robinson; Pamela Hinds | |||
| In this study, we sought to clarify the effects of users' cultural
background and cultural context on human-robot team collaboration by
investigating attitudes toward and the extent to which people changed their
decisions based on the recommendations of a robot collaborator. We report the
results of a 2×2 experiment with nationality (Chinese vs. US) and
communication style (implicit vs. explicit) as dimensions. The results confirm
expectations that when robots behave in more culturally normative ways,
subjects are more likely to heed their recommendations. Specifically, subjects
with a Chinese vs. a US cultural background changed their decisions more when
collaborating with robots that communicated implicitly vs. explicitly. We also
found evidence that Chinese subjects were more negative in their attitude to
robots and, as a result, relied less on the robot's advice. These findings
suggest that cultural values affect responses to robots in collaborative
situations and reinforce the importance of culturally sensitive design in HRI. Keywords: cross-cultural design, human robot collaboration | |||
| Lead me by the hand: evaluation of a direct physical interface for nursing assistant robots | | BIBAK | Full-Text | 367-374 | |
| Tiffany L. Chen; Charles C. Kemp | |||
| When a user is in close proximity to a robot, physical contact becomes a
potentially valuable channel for communication. People often use direct
physical contact to guide a person to a desired location (e.g., leading a child
by the hand) or to adjust a person's posture for a task (e.g., a dance
instructor working with a dancer). Within this paper, we present an
implementation and evaluation of a direct physical interface for a human-scale
anthropomorphic robot. We define a direct physical interface (DPI) to be an
interface that enables a user to influence a robot's behavior by making contact
with its body. Human-human interaction inspired our interface design, which
enables a user to lead our robot by the hand and position its arms. We
evaluated this interface in the context of assisting nurses with patient
lifting, which we expect to be a high-impact application area. Our evaluation
consisted of a controlled laboratory experiment with 18 nurses from the Atlanta
area of Georgia, USA. We found that our DPI significantly outperformed a
comparable wireless gamepad interface in both objective and subjective
measures, including number of collisions, time to complete the tasks, workload
(Raw Task Load Index), and overall preference. In contrast, we found no
significant difference between the two interfaces with respect to the users'
perceptions of personal safety. Keywords: assistive robotics, direct physical interface, healthcare robotics, nursing,
user study | |||
| Recognizing engagement in human-robot interaction | | BIBAK | Full-Text | 375-382 | |
| Charles Rich; Brett Ponsleur; Aaron Holroyd; Candace L. Sidner | |||
| Based on a study of the engagement process between humans, we have developed
and implemented an initial computational model for recognizing engagement
between a human and a humanoid robot. Our model contains recognizers for four
types of connection events involving gesture and speech: directed gaze, mutual
facial gaze, conversational adjacency pairs and backchannels. To facilitate
integrating and experimenting with our model in a broad range of robot
architectures, we have packaged it as a node in the open-source Robot Operating
System (ROS) framework. We have conducted a preliminary validation of our
computational model and implementation in a simple human-robot pointing game. Keywords: conversation, dialogue, nonverbal communication | |||