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  • 2014

  • Kim, Yochan; Yoon, Wan C. (2014): Generating Task-Oriented Interactions of Service Robots. In: IEEE Transactions on Systems, Man, and Cybernetics: Systems 44 (8), S. 981-994. DOI: 10.1109/TSMC.2014.2298214

    Abstract: Human-robot interaction (HRI) may play a key role in enhancing a robot's capability in practical service tasks, allowing productive human-robot collaboration. To obtain appropriate human aid for conducting tasks, a robot should be capable of generating meaningful questions regarding the task procedures in real time and applying the results to modify its task plans or behaviors. However, few studies on integrating robot task management and HRI in such high-level task planning exist. In this paper, we propose a new scheme of script-based task planning and HRI that supports the planning and is generated by it. The planning operates on a set of plain and easily writable task procedures, or scripts. The approach produces robust, practical, and easy-to-manipulate robot behavior. Based on the scripts, the system identifies plan ambiguities that require interaction with humans, and resolves them using the human response. The interaction thus generated is highly relevant and task-oriented. The robot learns from the interaction history to improve its subsequent planning in general, or personalize it. Two simulation cases, of a home service and a museum-guide robot, are presented to show how the robots lead appropriate interaction and smoothly adjust their task plans to user commands or responses. Such close integration of HRI and robot task planning is expected to advance the practicality of service robots.

    Keywords: ALIGNMENT, Communication, CONTROL ARCHITECTURE, Design, human-robot interaction, INTEGRATION, KNOWLEDGE, Mensch-Technik-Relationen (MTR), MIND, PROGRAMS, Realtechnik, Science and Technology Studies (STS), script, script-based task planning, service robot, Serviceroboter, Soziale Robotik, task-oriented interaction, Technik

  • 2011

  • Gross, H.-M.; Schroeter, Ch.; Mueller, S.; Volkhardt, M.; Einhorn, E.; Bley, A.; Langner, T.; Martin, Ch.; Merten, M. (2011) : I'll keep an eye on you: Home robot companion for elderly people with cognitive impairment: IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011: 9-12 Oct. 2011, Anchorage, Alaska, USA ; conference proceedings ; [including workshop papers]: EEE International Conference on Systems, Man and Cybernetics (IEEE SMC); Annual Workshop on Brain-Machine Interfaces; Workshop on Robust Machine Learning Technologies for Human Activity Detection Using Body-Worn Sensors: 2011 IEEE International Conference on Systems, Man and Cybernetics - SMC: Anchorage, AK, USA: 10/9/2011 - 10/12/2011: Piscataway, NJ: IEEE, S. 2481-2488

    Abstract: The paper gives an overview of the progress in developing a socially assistive home robot companion for elderly people with mild cognitive impairment (MCI) living alone at home. The spectrum of required assistive functionalities of such a robot companion is broad and reaches from reminding functions (e.g. taking medication or drinking) and cognitive stimulation exercises, via mobile videophony with relatives or caregivers, up to the detection and evaluation of critical situations, like falls. The paper is addressing several aspects of our work as part of the European FP7 project “CompanionAble”, as for example the developed robot hardware and its software and control architecture, the implemented skills for robust user detection and tracking and user-centered navigation in the home environment, and reports on already conducted and still ongoing functionality testings and pending usability studies with the end-user target groups (the elderly, relatives, caregivers).

    Keywords: Alltag, assistive robotics, Cameras, cognitive stimulation exercise, CompanionAble project, CONTROL ARCHITECTURE, elderly people, Gesundheit, handicapped aids, home automation, ieee xplore, mild cognitive impairment, Mobile robots, mobile videophony, Navigation, robot control architecture, Robot kinematics, Robot navigation, Robot vision systems, robust user detection, socially assistive robot companion, Software, user observation, user-centered navigation, videotelephony
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