Alle Publikationen
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2018
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(2018) : Decision-Making Prediction for Human-Robot Engagement between Pedestrian and Robot Receptionist In: Cabibihan, John-Joh: IEEE RO-MAN 2018: The 27th IEEE International Symposium on Robot and Human Interactive Communication: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Nanjing: 8/27/2018 - 8/31/2018. Ro-Man; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Society; IEEE Ro-Man; IEEE International Symposium on Robot and Human Interactive Communication: Piscataway, NJ: IEEE, S. 208-215
Abstract: Social robots have been providing a number of customer services lately. For example, they can take the place of people as receptionists. When people interact they predict each others decision-making from the others actions and take suitable actions for the sake of the other. However, taking such actions is difficult for modern social robots. Therefore, our initial aim is to solve the problem of how to predict decision-making in human-robot engagement. Choosing a reception system as a case study to approach this goal, we created a new model to predict who will use the system. The model contains a state transition function based on observation studies. We evaluated the model though a controlled experiment and a simulation experiment, using field data on prediction performance and mental effect. The experiment results lead us to believe that the model can predict the decisions of others sufficiently well. We also found that a pedestrian who will not talk with a robot receptionist suffers a negative emotion when the pedestrian is greeted by a robot, but a method we propose prevents this. We suggest that the word suitable is related to negative emotion, a part of usability. By using our model in the future we will attempt to find a method that will enable a robot to learn suitable actions by itself.
2014
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(2014) : Socially-appropriate approach paths using human data: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 1037-1042
DOI: https://doi.org/10.1109/ROMAN.2014.6926389 Abstract: For service robots operating in indoor environments, the crucial task of navigation is often complicated by the presence of people. Simply treating humans in the environment as additional (often moving) obstacles can violate the complex set of social rules by which people navigate around each other. In contrast, emulating human behavior and navigating in a socially appropriate manner could positively affect people’s comfort with a robot’s presence and motion. We present a method of generating social paths for a robot to approach a person based on a small amount of human data. We also conducted a study in which a robot approached participants using both these social paths and straight-line, nonsocial paths. We found that both approaches were rated comparably when the robot approached from the participant’s front or side, but the social approach was significantly preferred when the robot came from behind the participant.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Data models, Distance measurement, Human behavior, ieee xplore, Legged locomotion, Magnetic heads, motion control, moving obstacles, Navigation, navigation task, person approach, robot motion, robot presence, service robot, social path, social path generation, social rules, socially-appropriate approach path, straight-line nonsocial path, Torso 2013
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(2013) : It’s not polite to point Generating socially-appropriate deictic behaviors towards people: 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Tokyo, Japan: IEEE, S. 267-274
DOI: https://doi.org/10.1109/HRI.2013.6483598 Abstract: Pointing behaviors are used for referring to objects and people in everyday interactions, but the behaviors used for referring to objects are not necessarily polite or socially appropriate for referring to humans. In this study, we confirm that although people would point precisely to an object to indicate where it is, they were hesitant to do so when pointing to another person. We propose a model for generating socially-appropriate deictic behaviors in a robot. The model is based on balancing two factors: understandability and social appropriateness. In an experiment with a robot in a shopping mall, we found that the robot’s deictic behavior was perceived as more polite, more natural, and better overall when using our model, compared with a model considering understandability alone.
Keywords: Angemessen(heit) (von Technik), Data Collection, Data models, Fingers, human-robot interaction, ieee xplore, Indexes, intelligent robots, pointing behaviors, pointing gesture, Robots, shopping mall, social appropriateness, social robots, social sciences, socially-appropriate deictic robot behavior generation, understandability, Visualization 2012
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(2012) : Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication: Paris, France: IEEE, S. 1115-1120
DOI: https://doi.org/10.1109/ROMAN.2012.6343898 Abstract: There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33.
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