Alle Publikationen
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2015
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(2015) : May I help you? - Design of Human-like Polite Approaching Behavior-: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery, S. 35-42
Abstract: When should service staff initiate interaction with a visitor? Neither simply-proactive (e.g. talk to everyone in a sight) nor passive (e.g. wait until being talked to) strategies are desired. This paper reports our modeling of polite approaching behavior. In a shopping mall, there are service staff members who politely approach visitors who need help. Our analysis revealed that staff members are sensitive to ‘intentions’ of nearby visitors. That is, when a visitor intends to talk to a staff member and starts to approach, the staff member also walks a few steps toward the visitors in advance to being talked. Further, even when not being approached, staff members exhibit ”availability” behavior in the case that a visitor’s intention seems uncertain. We modeled these behaviors that are adaptive to pedestrians’ intentions, occurred prior to initiation of conversation. The model was implemented into a robot and tested in a real shopping mall. The experiment confirmed that the proposed method is less intrusive to pedestrians, and that our robot successfully initiated interaction with pedestrians.
Keywords: Adaptation models, availability behavior, Behavior Design, Collaboration, Estimation, ieee xplore, initiation of interaction, Intention estimation, Künstliche Intelligenz, learning (artificial intelligence), Micromechanical devices, nearby visitors, polite approaching behavior, robot programming, Robot sensing systems, service staff members, shopping mall, Task Analysis -
(2015): Measuring communication participation to initiate conversation in human–robot interaction. In: International Journal of Social Robotics 7 (5), S. 889-910. DOI: 10.1007/s12369-015-0285-z
DOI: https://doi.org/10.1007/s12369-015-0285-z Abstract: Consider a situation where a robot initiates a conversation with a person. What is the appropriate timing for such an action? Where is a good position from which to make the initial greeting? In this study, we analyze human interactions and establish a model for a natural way of initiating conversation. Our model mainly involves the participation state and spatial formation. When a person prepares to participate in a conversation and a particular spatial formation occurs, he/she feels that he/she is participating in the conversation; once he/she perceives his/her participation, he/she maintains particular spatial formations. Theories have addressed human communication related to these concepts, but they have only covered situations after people start to talk. In this research, we created a participation state model for measuring communication participation and provided a clear set of guidelines for how to structure a robot’s behavior to start and maintain a conversation based on the model. Our model precisely describes the constraints and expected behaviors for the phase of initiating conversation. We implemented our proposed model in a humanoid robot and conducted both a system evaluation and a user evaluation in a shop scenario experiment. It was shown that good recognition accuracy of interaction state in a conversation was achieved with our proposed model, and the robot implemented with our proposed model was evaluated as best in terms of appropriateness of behaviors and interaction efficiency compared with other two alternative conditions. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2012
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(2012) : Spatial Formation Model for Initiating Conversation In: Trinkle, Jeffrey C.; Matsuoka, Yoky; Castellanos, José A. (Hg.): Robotics: Science and systems VII: Robotics: Science and Systems 2011: June 27-30, 2011: Cambridge, MA: MIT Press
Abstract: In a situation where a robot initiates conversation with a person, when is the appropriate timing and where is an appropriate position from which to say the first greeting word? In this study, we analyze human interaction and establish a model for a natural way of initiating conversation. The model mainly concerns the participation state [1] and spatial formation [2]. When a person is going to participate in a conversation, at a moment when a particular spatial formation occurs, she would feel that she is participating in the conversation; once she perceived her participation she would try to maintain particular spatial formations. There are theories in human communication for these concepts [1, 2], but they only cover the situation after people have started to talk. We build a model that precisely describes the constraints and expected behaviors for the phase of initiating conversation. The proposed model is implemented in a humanoid robot, and it is confirmed as effective in an evaluation experiment based on a shopkeeper scenario.
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