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  • 2017

  • Ruiz-Sarmiento, Jose-Raul; Galindo, Cipriano; Gonzalez-Jimenez, Javier (2017): Building Multiversal Semantic Maps for Mobile Robot Operation. In: KNOWLEDGE-BASED SYSTEMS 119, S. 257-272. DOI: 10.1016/j.knosys.2016.12.016

    DOI: https://doi.org/10.1016/j.knosys.2016.12.016 

    Abstract: Semantic maps augment metric-topological maps with meta-information, i.e. l semantic knowledge aimed at the planning and execution of high-level robotic tasks. Semantic knowledge typically encodes human-like concepts, like types of objects and rooms, which are connected to sensory data when symbolic representations of percepts from the robot workspace are grounded to those concepts. Such a symbol grounding is usually carried out by algorithms that individually categorize each symbol and provide a crispy outcome – a symbol is either a member of a category or not. Such approach is valid for a variety of tasks, but it fails at: (i) dealing with the uncertainty inherent to the grounding process, and (ii) jointly exploiting the contextual relations among concepts (e.g. microwaves are usually in kitchens). This work provides a solution for probabilistic symbol grounding that overcomes these limitations. Concretely, we rely on Conditional Random Fields (CRFs) to model and exploit contextual relations, and to provide measurements about the uncertainty coming from the possible groundings in the form of beliefs (e.g. an object can be categorized (grounded) as a microwave or as a nightstand with beliefs 0.6 and 0.4, respectively). Our solution is integrated into a novel semantic map representation called Multiversal Semantic Map (MvSmap), which keeps the sets of different groundings, or universes, as instances of ontologies annotated with the obtained beliefs for their posterior exploitation. The suitability of our proposal has been proven with the Robot@Home dataset, a repository that contains challenging multi-modal sensory information gathered by a mobile robot in home environments. (PsycINFO Database Record (c) 2017 APA, all rights reserved)

    Keywords: Algorithms, Bedienung & Handhabung, Conditional random fields, Mobile robots, Ontologies, Robotics, Semantic maps, Semantic Networks, Symbol grounding, uncertainty, uncertainty handling

  • 2008

  • Weber, Jutta (2008) : Human-robot interaction In: Kelsey, Sigrid; St. Amant, Kirk (Hg.): Handbook of research on computer mediated communication., Vols. 1-2: Hershey, PA: Information Science Reference/IGI Global, S. 855-867. Online verfügbar unter http://search.ebscohost.com/login.aspx?direct=true&db=psyh&AN=2008-09375-061&site=ehost-live

    DOI: http://search.ebscohost.com/login.aspx?direct=true&db=psyh&AN=2008-09375-061&site=ehost-live 

    Abstract: Some people regard the personal mobile robot as a candidate for the next digital revolution as it might become a future ubiquitous tool and everyday partner of humans. This new 'socio-emotional' robot is supposed to conduct dialogue, to develop social competencies and to support users in everyday life. In this chapter, I sketch out the epistemological, ontological and techno-material groundings of personal service robotics which is based on new models of human-machine interaction like caregiver-infant or pet-owner. I discuss the conversational paradigm in Human-Robot Interaction (HRI) with its problematic concepts of 'pre-given' social mechanisms, uninformed users as well as its new understanding of sociality as service. (PsycINFO Database Record (c) 2019 APA, all rights reserved)

    Keywords: emotional & robot, epistemology, Human Computer Interaction, Human robot interaction, human-robot interaction, Ontologies, Ontology, personal service robots, Robotics, Social robotic, technology, techno-material

  • 2006

  • Kahn, P. H.; Ishiguro, H.; Friedman, B.; Kanda, T. (2006) : What is a Human? - Toward Psychological Benchmarks in the Field of Human-Robot Interaction: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human: Hatfield, UK: IEEE, S. 364-371

    DOI: https://doi.org/10.1109/ROMAN.2006.314461 

    Abstract: In this paper, we move toward offering psychological benchmarks by which to measure success in building increasingly human-like robots. By psychological benchmarks we mean categories of interaction that capture conceptually fundamental aspects of human life, specified abstractly enough so as to resist their identity as a mere psychological instrument, but capable of being translated into testable empirical propositions. Six possible benchmarks are considered: autonomy, imitation, intrinsic moral value, moral accountability, privacy, and reciprocity. Finally, we discuss how getting the right group of benchmarks in human-robot interaction will, in future years, help inform on the foundational question of what constitutes essential features of being human

    Keywords: Benchmark testing, Ethics, Human robot interaction, Humanoid Robots, human-robot interaction, ieee xplore, Instruments, man-machine systems, Moral & Ethik, Ontologies, psychological benchmarks, PSYCHOLOGY, Resists, Robotic assembly, Robots, service robot, testable empirical propositions
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