Alle Publikationen
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2019
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(2019) : Social Robots in Therapy and Care: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 669-670
DOI: https://doi.org/10.1109/HRI.2019.8673243 Abstract: The Social Robots in Therapy workshop series aims at advancing research topics related to the use of robots in the contexts of Social Care and Robot-Assisted Therapy (RAT). Robots in social care and therapy have been a long time promise in HRI as they have the opportunity to improve patients life significantly. Multiple challenges have to be addressed for this, such as building platforms that work in proximity with patients, therapists and health-care professionals; understanding user needs; developing adaptive and autonomous robot interactions; and addressing ethical questions regarding the use of robots with a vulnerable population. The full-day workshop follows last year’s edition which centered on how social robots can improve health-care interventions, how increasing the degree of autonomy of the robots might affect therapies, and how to overcome the ethical challenges inherent to the use of robot assisted technologies. This 2nd edition of the workshop will be focused on the importance of equipping social robots with socio-emotional intelligence and the ability to perform meaningful and personalized interactions. This workshop aims to bring together researchers and industry experts in the fields of Human-Robot Interaction, Machine Learning and Robots in Health and Social Care. It will be an opportunity for all to share and discuss ideas, strategies and findings to guide the design and development of robot-assisted systems for therapy and social care implementations that can provide personalize, natural, engaging and autonomous interactions with patients (and health-care providers).
Keywords: Adaptive Behaviors, adaptive robot interactions, autonomous robot interactions, biomedical education, Conferences, ethical aspects, Health Care, health-care interventions, health-care professionals, health-care providers, human-robot interaction, ieee xplore, medical robotics, Medical treatment, Mobile robots, Moral & Ethik, patient treatment, Personalized Behaviors, Radio access technologies, robot assisted technologies, Robot kinematics, robot-assisted systems, robot-assisted therapy, Robots in Therapy, service robot, social care implementations, Social intelligence, social robots, Supervised Autonomy 2017
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(2017) : On how self-body awareness improves autonomy in social robots: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO): Parisian Macao, China: IEEE, S. 1688-1693
DOI: https://doi.org/10.1109/ROBIO.2017.8324661 Abstract: Just as humans show consciousness of their body, social robots, in the way to be truly autonomous need to be aware of their body posture. Feasible gestures, moves and actions depend on the current body posture. The work developed in this paper aims to empirically show how self configuration recognition augments the degree of autonomy of a robot in the context of entertainment robotics. The integration of a classification tree for body posture identification based on data acquired from proprioceptive sensors of a NAO robot allows to interact with the robot in a more flexible and persistent manner. As a result, the robot shows a more sound behavior and greater degree of autonomy. Moreover, even if the body-awareness has been developed for minstrel robots, its application can be generalized to other contexts.
Keywords: body posture identification, current body posture, Decision trees, Entertainment industry, entertainment robotics, Gesture recognition, Humanoid Robots, ieee xplore, Künstliche Intelligenz, Legged locomotion, minstrel robots, NAO robot, Robot kinematics, Robot sensing systems, self configuration recognition, self-body awareness, social robots -
(2017) : Learning behavioral norms in uncertain and changing contexts: 2017 8th IEEE International Conference on Cognitive Infocommunications (CogInfoCom): Debrecen, Hungary: IEEE, S. 000301-000306
DOI: https://doi.org/10.1109/CogInfoCom.2017.8268261 Abstract: Human behavior is often guided by social and moral norms. Robots that enter human societies must therefore behave in norm-conforming ways as well to increase coordination, predictability, and safety in human-robot interactions. However, human norms are context-specific and laced with uncertainty, making the representation, learning, and communication of norms challenging. We provide a formal representation of norms using deontic logic, Dempster-Shafer Theory, and a machine learning algorithm that allows an artificial agent to learn norms under uncertainty from human data. We demonstrate a novel cognitive capability with which an agent can dynamically learn norms while being exposed to distinct contexts, recognizing the unique identity of each context and the norms that apply in it.
Keywords: Artificial agent, behavioral norms, behavioural sciences computing, Cognition, Conferences, Dempster-Shafer Theory, deontic logic, Ethics, formal logic, Human behavior, human societies, human-robot interaction, human-robot interactions, ieee xplore, inference mechanisms, learning (artificial intelligence), Libraries, machine learning algorithm, Moral & Ethik, moral norms, norm-conforming ways, Robot kinematics, Social Norms, uncertainty, uncertainty handling 2016
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(2016): Bridging the Ethical Gap: From Human Principles to Robot Instructions. In: IEEE Intelligent Systems 31 (5), S. 76-82. DOI: 10.1109/MIS.2016.87
DOI: https://doi.org/10.1109/MIS.2016.87 Abstract: Asimov’s three laws of robotics and the Murphy-Woods alternative laws assume that a robot has the cognitive ability to make moral decisions, and fail to escape the myth of self-sufficiency. But ethical decision making on the part of robots in human-robot interaction is grounded on the interdependence of human and machine. Furthermore, the proposed laws are high-level principles that cannot easily be translated into machine instructions because there is an immense gap between the architecture, implementation, and activity of humans and robots in addressing ethical situations. The characterization of the ethical gap, particularly with reference to the Murphy-Woods laws, leads to a proposal for a shift in focus away from the autonomous behavior of the robot to human-robot communication at the interface, and the development of interdependence rules to underpin the process of ethical decision-making.
Keywords: autonomous behavior, cognitive ability, Context modeling, control engineering computing, ethical decision making, ethical gap, ethical interdependence, Ethics, human principle, human-robot interaction, human-robot interface, ieee xplore, Intelligent Systems, Law, laws of robotics, Moral & Ethik, Murphy-Woods alternative laws, Robot Ethics, robot instruction, Robot kinematics, Robot sensing systems, Robotics, standards -
(2016) : Robot reading human gaze: Why eye tracking is better than head tracking for human-robot collaboration: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, South Korea: IEEE Robotics & Automation Society, S. 5048-5054
DOI: https://doi.org/10.1109/IROS.2016.7759741 Abstract: Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still adopted in many applications today. In this paper we introduce performance improvements to an eye tracking system we previously developed and use it to explore if this approximation is appropriate. More precisely, we compare the impact of the use of eye- or head-based gaze estimation in a human robot interaction experiment with the iCub robot and naïve subjects. We find that the possibility to exploit the richer information carried by eye gaze has a significant impact on the interaction. As a result, our eye tracking system allows for a more efficient human-robot collaboration than a comparable head tracking approach, according to both quantitative measures and subjective evaluation by the human participants.
Keywords: Angemessen(heit) (von Technik), Cameras, communication cues, EYE GAZE, eye tracking system, eye-based gaze estimation, gaze tracking, Head, head orientation, head tracking, head-based gaze estimation, Human robot interaction, Humanoid Robots, human-robot collaboration, human-robot interaction, iCub robot, ieee xplore, Magnetic heads, performance improvements, pose estimation, quantitative measures, robot human gaze reading, Robot kinematics, robot perception, robot proxy, robot vision, Visualization -
(2016) : 13-year-olds approach human-robot interaction like adults: 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob): Cergy-Pontoise/Paris, France: IEEE, S. 138-143
DOI: https://doi.org/10.1109/DEVLRN.2016.7846805 Abstract: Robots are at the evolution stage that will bring them to interact with humans in daily activities. This will lead to a direct contact with all the members of a household. It is important therefore to understand whether a robot behavior designed for adults could fit also the needs of their younger relatives. In particular, in this work we investigate whether the acceptance and basic understanding of robot behaviors changes between the onset of adolescence and adulthood. With a series of video-based tests we address three different aspects of the interaction: a) the a priori expectations of the prospective users on the most appropriate features of an interactive robot; b) their subjective preferences about a humanoid robot verbal and non-verbal behavior in a demonstration task; and c) the quantitative effect of robot gaze and hand motion on the ability of its human partner to understand its goal. The results show a remarkable similarity between teenagers and adults in all the subjective and quantitative metrics considered, suggesting that a robot behavior designed for adults would be probably effective also in the interaction with 13-year-olds. Our findings also underline the high relevance of an appropriate design of robot gaze direction, as both age groups relied substantially on this implicit cue in their understanding of robot goals.
Keywords: adolescence, adulthood, Angemessen(heit) (von Technik), demonstration task, goal anticipation, hand motion, Human voice, Humanoid Robot, Humanoid Robots, human-robot interaction, ieee xplore, implicit communication, interactive robot, motion control, Mouth, Nonverbal behavior, quantitative metrics, robot behavior, robot gaze direction, Robot kinematics, robot motion, Robot sensing systems, Social robotic, subjective metrics, video-based tests, Videos 2014
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(2014) : Sympathy expression model for the bystander robot in group communication: 2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM): Puerto Princesa, Philippines: IEEE, S. 1-6
DOI: https://doi.org/10.1109/HNICEM.2014.7016192 Abstract: In this paper, we propose a sympathy expression model for a bystander robot that honors the concept of moral emotion. Therefore, we pay attention to the robot that is in a bystander position, which is unrelated to the communication between participants. We propose a sympathy expression model that lets a bystander robot learn the emotional display of others and enables cooperative expressiveness. This model allows the appropriate expressiveness affecting communication of a robot in the position of a bystander. To test it, we assume the interaction of three robots with the emotion generation model using the neural network. Further, we inspect the movement of this model by using a psychology model. As a result, we confirmed the appropriate actions of this model.
Keywords: bystander robot, control engineering computing, emotion generation model, Ethics, group communication, Humanoid Robots, ieee xplore, Moral & Ethik, moral emotion, neural nets, neural network, Observers, PSYCHOLOGY, psychology model, Robot kinematics, Robot sensing systems, Sympathy, sympathy expression model, Vectors -
(2014): Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction. In: IEEE Transactions on Haptics 7 (3), S. 367-380. DOI: 10.1109/TOH.2013.54
DOI: https://doi.org/10.1109/TOH.2013.54 Abstract: Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use learning to model the kinematics of the task, and for autonomous execution the robot then relies on a stiff position controller. While many tasks can and have been learned this way, there are tasks in which controlling the position alone is insufficient to achieve the goals of the task. These are typically tasks that involve contact or require a specific response to physical perturbations. The question of how to adjust the compliance to suit the need of the task has not yet been fully treated in Robot Learning from Demonstration. In this paper, we address this issue and present interfaces that allow a human teacher to indicate compliance variations by physically interacting with the robot during task execution. We validate our approach in two different experiments on the 7 DoF Barrett WAM and KUKA LWR robot manipulators. Furthermore, we conduct a user study to evaluate the usability of our approach from a non-roboticists perspective.
Keywords: Algorithms, Analysis, Bedienung & Handhabung, Biomechanical Phenomena, compliance control, compliance variations, compliant control, compliant manipulation, Computer Simulation, education, Force, haptic feedback, haptic interfaces, human-robot interaction, Humans, Impedance, Joints, Kinesthesis, kinesthetic human-robot interaction, KUKA LWR robot manipulators, Learning, manipulator kinematics, Physical Human-Robot Interaction, position control, RLfD, Robot kinematics, robot learning from demonstration, Robot sensing systems, Robotics, stiff position controller, tactile human-robot interaction, tactile interfaces, task kinematics, task model, Task Performance, Touch -
(2014): Evaluation of Head Gaze Loosely Synchronized With Real-Time Synthetic Speech for Social Robots. In: IEEE Transactions on Human-Machine Systems 44 (6), S. 767-778. DOI: 10.1109/THMS.2014.2342035
DOI: https://doi.org/10.1109/THMS.2014.2342035 Abstract: This study demonstrates that robots can achieve socially acceptable interactions using loosely synchronized head gaze-speech acts. Prior approaches use tightly synchronized head gaze-speech, which requires significant human effort and time to manually annotate synchronization events in advance, restricts interactive dialog, or requires that the operator acts as a puppeteer. This paper describes how autonomous synchronization of head gaze can be achieved by exploiting affordances in the sentence structure and time delays. A 93-participant user study was conducted in a simulated disaster site. The rescue robot “Survivor Buddy” generated head gaze for a victim management scenario using a 911 dialog. The study used pre- and postinteraction questionnaires to compare the social acceptance level of loosely synchronized head gaze-speech against tightly synchronized head gaze-speech (manual annotation) and no head gaze-speech conditions. The results indicated that for attributes of Self-Assessment Manikin, i.e., Arousal, Robot Likeability, Human-Like Behavior, Understanding Robot Behavior, Gaze-Speech Synchronization, Looking at Objects at Appropriate Times, and Natural Movement, the loosely synchronized head gaze-speech is similar to tightly synchronized head gaze-speech and preferred to the no head gaze-speech case. This study contributes to a fundamental understanding of the role of social head gaze in social acceptance for human-machine interaction, how social gaze can be produced, and promotes practical implementation in social robots.
Keywords: Angemessen(heit) (von Technik), Autonomous generation, autonomous head gaze synchronization, Evaluation, human robot interactions, Human-Machine Interaction, human-robot interaction, Human–robot interaction, ieee xplore, interactive conversation, interactive systems, loosely synchronized head gaze-speech acts, real-time synthetic speech, Real-time systems, rescue robots, Robot kinematics, self-assessment manikin, social head gaze, social robots, speech, Survivor Buddy rescue robot, synchronisation, Synchronization, tightly synchronized head gaze-speech, User study, victim management scenario 2013
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(2013) : Accompany: Acceptable robotiCs COMPanions for AgeiNG Years — Multidimensional aspects of human-system interactions: 2013 6th International Conference on Human System Interactions (HSI): Sopot, Poland: IEEE, S. 570-577
DOI: https://doi.org/10.1109/HSI.2013.6577882 Abstract: With changes in life expectancy across the world, technologies enhancing well-being of individuals, specifically for older people, are subject to a new stream of research and development. In this paper we present the ACCOMPANY project, a pan-European project which focuses on home companion technologies. The projects aims to progress beyond the state of the art in multiple areas such as empathic and social human-robot interaction, robot learning and memory visualisation, monitoring persons and chores at home, and technological integration of these multiple approaches on an existing robotic platform, Care-O-Bot®3 and in the context of a smart-home environment utilising a multitude of sensor arrays. The resulting prototype from integrating these developments undergoes multiple formative cycles and a summative evaluation cycle towards identifying acceptable behaviours and roles for the robot for example role as a butler or a trainer. Furthermore, the evaluation activities will use an evaluation grid in order to assess achievement of the identified user requirements, formulated in form of distinct scenarios. Finally, the project considers ethical concerns and by highlighting principles such as autonomy, independence, enablement, safety and privacy, it embarks on providing a discussion medium where user views on these principles and the existing tension between some of these principles for example tension between privacy and autonomy over safety, can be captured and considered in design cycles and throughout project developments.
Keywords: acceptable robotics companions for ageing years, ACCOMPANY project, assisted living, autonomy principle, Cameras, Care-O-BotR®3, chore monitoring, Context, design cycles, empathic human-robot interaction, enablement principle, ethical aspects, ethical concerns, home companion technologies, human-robot interaction, human-system interactions, ieee xplore, independence principle, individual well-being enhancement, Life Expectancy, memory visualisation, Moral & Ethik, pan-European project, person monitoring, privacy principle, project developments, Robot kinematics, robot learning, Robot vision systems, robotic platform, safety principle, Senior citizens, sensor arrays, service robot, smart-home environment, social aspects of automation, social human-robot interaction, summative evaluation cycle 2011
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(2011): Multidisciplinary approach for developing a new robotic system for domiciliary assistance to elderly people. In: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, S. 5327-5330. DOI: 10.1109/IEMBS.2011.6091318
DOI: http://www.ncbi.nlm.nih.gov/pubmed/22255541 Abstract: This paper aims to show the effectiveness of a (inter / multi)disciplinary team, based on the technology developers, elderly care organizations, and designers, in developing the ASTRO robotic system for domiciliary assistance to elderly people. The main issues presented in this work concern the improvement of robot's behavior by means of a smart sensor network able to share information with the robot for localization and navigation, and the design of the robot's appearance and functionalities by means of a substantial analysis of users' requirements and attitude to robotic technology to improve acceptability and usability.
Keywords: 80 and over, Administration, Aged, Benutzerfreundlichkeit, Computer assisted, Equipment Design, Equipment Failure Analysis, Female, Gerontologie, Humans, ieee xplore, Instrumentation, Male, Mobile communication, Organisation, Patient Care Team, Polarization, Robot kinematics, Robot sensing systems, Robotics, Self-Care, Senior citizens, Therapy, usability -
(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 -
(2011) : Human-robot proxemics: Physical and psychological distancing in human-robot interaction: 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 331-338
DOI: https://doi.org/10.1145/1957656.1957786 Abstract: To seamlessly integrate into the human physical and social environment, robots must display appropriate proxemic behavior-that is, follow societal norms in establishing their physical and psychological distancing with people. Social-scientific theories suggest competing models of human proxemic behavior, but all conclude that individuals’ proxemic behavior is shaped by the proxemic behavior of others and the individual’s psychological closeness to them. The present study explores whether these models can also explain how people physically and psychologically distance themselves from robots and suggest guidelines for future design of proxemic behaviors for robots. In a controlled laboratory experiment, participants interacted with Wakamaru to perform two tasks that examined physical and psychological distancing of the participants. We manipulated the likeability (likeable/dislikeable) and gaze behavior (mutual gaze/averted gaze) of the robot. Our results on physical distancing showed that participants who disliked the robot compensated for the increase in the robot’s gaze by maintaining a greater physical distance from the robot, while participants who liked the robot did not differ in their distancing from the robot across gaze conditions. The results on psychological distancing suggest that those who disliked the robot also disclosed less to the robot. Our results offer guidelines for the design of appropriate proxemic behaviors for robots so as to facilitate effective human-robot interaction.
Keywords: Angemessen(heit) (von Technik), Atmospheric measurements, Computers, disclosure, distancing, Gaze, human proxemic behavior, humanlike robots, human-robot interaction, human-robot proxemics, ieee xplore, individual psychological closeness, Particle measurements, physical distancing, Predictive models, Proxemics, proximity, psychological distancing, PSYCHOLOGY, robot gaze behavior, Robot kinematics, robot likeability, social-scientific theories, societal norms, Wakamaru 2010
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(2010) : Smooth collision avoidance in human-robot coexisting environment: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems: Taipei, Taiwan: IEEE, S. 3887-3892
DOI: https://doi.org/10.1109/IROS.2010.5649673 Abstract: In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian’s behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using a laser range finder and tracks them by a Kalman filter. We apply the social force model to the observed trajectory for a determination whether the pedestrian intends to avoid a collision with the robot or not. The robot selects an appropriate behavior based on the estimation results. We conducted experiments that a robot and a person pass each other. Through the experiments, the usefulness of the proposed method was demonstrated.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Force, human-robot coexisting environment, human-robot interaction, ieee xplore, Kalman filter, Kalman filters, laser range finder, laser ranging, Leg, Mobile robots, pedestrian behavior, Robot kinematics, service robot, smooth collision avoidance, Trajectory 2008
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(2008) : Are bigger robots scary? —The relationship between robot size and psychological threat—: 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Xian, China: IEEE, S. 546-551
DOI: https://doi.org/10.1109/AIM.2008.4601719 Abstract: Human symbiosis service robots of various sizes have already been developed. However, few quantitative investigations have been made concerning the influence of the size of a robot on a userpsilas impression. We focused on the height of a robot (robot size), investigating the effect of robot size on the anxiety or threat felt by a human to be caused by a robot and the appropriate human-robot distance. We prepared three mobile robots that were 0.6 m, 1.2 m and 1.8 m tall. One of these robots approached a male subject from a distance of 3 m, at a maximum speed of 0.4 m/s, and the subject stopped the robot using a switch when he began to feel anxious. We measured the distance between the human and the robot when the subject stopped the robot. Then, we asked the subject to complete a questionnaire to evaluate differences in anxiety levels caused by robots of different sizes. As a result of the experiment based on 19 subjects, we were able to observe a tendency for the human-robot distance to increase along with the size of the robot. From the questionnaires, we found that the subjects felt most anxious with the 1.8-m-tall robots, but that some subjects also experienced anxiety with the 0.6-m-tall robots. Considering both the experimental results and the questionnaires, we conclude that 1.2 m is better than other two sizes.
2007
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(2007) : Towards Realistic Facial Behaviour in Humanoids - Mapping from Video Footage to a Robot Head: 2007 IEEE 10th International Conference on Rehabilitation Robotics: Piscataway NJ: IEEE, S. 833-840
DOI: https://doi.org/10.1109/ICORR.2007.4428521 Abstract: Rehabilitation robotics and physical therapy could greatly benefit from engaging and motivating, robotic caregivers which respond in accordance to patients’ emotional and social cues. Recent studies indicate that human-machine interactions are more believable and memorable when a physical entity is present, provided that the machine behaves in a realistic manner. It is desirable to adopt face-to-face communication because it is the most natural and efficient way of exchanging information and does not require users to alter their habits. Towards this end, we describe a process for animating a robot head, based on video input of a human head. We map from the 2D coordinates of feature points into the robot’s servo space using Partial Least Squares (PLS). Learning is done using a small set of keyframes manually created by an animator. The method is efficient, robust to tracking errors and independent of the scale of the face being tracked.
Keywords: Animation, Computer animation, Facial animation, human-machine interactions, Humanoid Robots, Humanoids, Humans, ieee xplore, Künstliche Intelligenz, Learning, learning (artificial intelligence), Magnetic heads, Man machine systems, medical robotics, Medical treatment, Orbital robotics, partial least squares, patient rehabilitation, physical therapy, realistic facial behaviour, Rehabilitation robotics, robot head, Robot kinematics, robot servo space, servomechanisms, video footage 2005
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(2005) : Fostering common ground in human-robot interaction: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: Nashville, TN, USA: IEEE, S. 729-734
DOI: https://doi.org/10.1109/ROMAN.2005.1513866 Abstract: Effective communication between people and interactive robots would benefit if they have a common ground of understanding. I discuss how the common ground principle of least collective effort can be used to predict and design human robot interactions. Social cues lead people to create a mental model of a robot and estimates of its knowledge. People’s mental model and knowledge estimate would, in turn, influence the effort they expend to communicate with the robot. People would explain their message in less detail to a knowledgeable robot with which they have more common ground. This process can be leveraged to design interactions that have an appropriate style of robot direction and that accommodate to differences among people.
Keywords: Airports, Angemessen(heit) (von Technik), Cognitive robotics, Cognitive Science, common ground principle, Communication effectiveness, Human robot interaction, Humanoid Robots, human-robot interaction, ieee xplore, interactive robots, knowledge estimation, mental model, Orbital robotics, Robot kinematics, Security, social robots, Testing, user interfaces 2004
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(2004) : Working collaboratively with humanoid robots: 2004 4th IEEE/RAS International Conference on Humanoid Robots, 2004: 10-12 Nov. 2004, [Santa Monica, CA ; proceedings]: 2004 4th IEEE/RAS International Conference on Humanoid Robots: Santa Monica, CA, USA: 10-12 Nov. 2004. International Conference on Humanoid Robots; IEEE/RAS International Conference on Humanoid Robots: Piscataway, NJ: IEEE Operations Center, S. 253-272
Abstract: This paper presents an overview of our work towards building humanoid robots that can work alongside people as cooperative teammates. We present our theoretical framework based on a novel combination of joint intention theory and collaborative discourse theory, and demonstrate how it can be applied to allow a human to work cooperatively with a humanoid robot on a joint task using speech, gesture, and expressive cues. Such issues must be addressed to enable many new and exciting applications for humanoid robots that require them to assist ordinary people in daily activities or to work as capable members of human-robot teams.
Keywords: Alltag, collaborative discourse theory, Collaborative work, cooperative teammates, Human robot interaction, Humanoid Robots, ieee xplore, intelligent robots, joint intention theory, man-machine systems, Mensch-Roboter-Interaktion, Orbital robotics, Robot kinematics, Robot sensing systems, Robotic assembly, speech, Teamwork
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