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2007
Bethel, C. L.; Murphy, R. R. (2007) : Non-facial/non-verbal methods of affective expression as applied to robot-assisted victim assessment: 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 287-294

DOI: https://doi.org/10.1145/1228716.1228755

Abstract: This work applies a previously developed set of heuristics for determining when to use non-facial/non-verbal methods of affective expression to the domain of a robot being used for victim assessment in the aftermath of a disaster. Robot-assisted victim assessment places a robot approximately three meters or less from a victim, and the path of the robot traverses three proximity zones (intimate (contact - 0.46 m), personal (0.46 - 1.22 m), and social (1.22 - 3.66 m)). Robot- and victim-eye views of an Inuktun robot were collected as it followed a path around the victim. The path was derived from observations of a prior robot-assisted medical reachback study. The victim’s-eye views of the robot from seven points of interest on the path illustrate the appropriateness of each of the five primary non-facial/non-verbal methods of affective expression: (body movement, posture, orientation, illuminated color, and sound), offering support for the heuristics as a design aid. In addition to supporting the heuristics, the investigation identified three open research questions on acceptable motions and impact of the surroundings on robot affect.

Keywords: Abstracts, Affective computing, affective expression, Angemessen(heit) (von Technik), Body Movement, body orientation, body posture, design aid, design aids, disaster, disasters, emergency services, human-robot interaction, ieee xplore, illuminated color, Inuktun robot, nonfacial nonverbal method, Non-verbal Communication, Proxemics, robot-assisted medical reachback study, robot-assisted victim assessment, Robotic Design Guidelines, service robot, sound, victim-eye views
Gockley, R.; Forlizzi, J.; Simmons, R. (2007) : Natural person-following behavior for social robots: 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 17-24

DOI: https://doi.org/10.1145/1228716.1228720

Abstract: We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot’s movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following and path-following. While both algorithms have similar characteristics in terms of tracking performance and following distances, participants in a pilot study rated the direction-following behavior as significantly more human-like and natural than the path-following behavior. We argue that the path-following method may still be more appropriate in some situations, and we propose that the ideal person-following behavior may be a hybrid approach, with the robot automatically selecting which method to use.

Keywords: Abstracts, Angemessen(heit) (von Technik), direction-following method, Hardware, human-robot interaction, ieee xplore, laser-based person-tracking method, Lasers, Mobile robots, natural person-following behavior, path-following method, person following, person tracking, person-following method, position control, Reliability, Robots, social robots, social sciences, spatial skills, speech

2007

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