| 1. |
- Lohse, M., et al.
(författare)
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Evaluating extrovert and introvert behaviour of a domestic robot – a video study
- 2008
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Ingår i: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN. - New York : IEEE. - 9781424422128 ; , s. 488-493
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Konferensbidrag (refereegranskat)abstract
- Human-Robot Interaction (HRI) research is here presented into social robots that have to be able to interact with inexperienced users. In the design of these robots many research findings of human-human interaction and human-computer interaction are adopted but the direct applicability of these theories is limited because a robot is different from both humans and computers. Therefore, new methods have to be developed in HRI in order to build robots that are suitable for inexperienced users. In this paper we present a video study we conducted employing our robot BIRON (BIelefeld RObot companioN) which is designed for use in domestic environments. Subjects watched the system during the interaction with a human and rated two different robot behaviours (extrovert and introvert). The behaviours differed regarding verbal output and person following of the robot. Aiming to improve human-robot interaction, participants' ratings of the behaviours were evaluated and compared.
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| 2. |
- Walters, M. L., et al.
(författare)
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Evaluating the Robot Personality and Verbal Behavior of Domestic Robots Using Video-Based Studies
- 2014
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Ingår i: Household Service Robotics. - : Elsevier. - 9780128009437 ; , s. 467-486
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- Robots are increasingly being used in domestic environments and should be able to interact with inexperienced users. Human-human interaction and human-computer interaction research findings are relevant, but often limited because robots are different from both humans and computers. Therefore, new human-robot interaction (HRI) research methods can identify the design of robots suitable for inexperienced users. A video-based HRI (VHRI) methodology was used to carry out a multi-national HRI user study for the prototype domestic robot BIRON (BIelefeld RObot companioN). Previously, the VHRI methodology was used in constrained HRI situations, while in this study HRIs involved a series of events as part of a "home tour" scenario. Thus, the present chapter is the first study of this methodology in extended HRI contexts with a multi-national approach. Participants watched videos of the robot interacting with a human actor and rated two robot behaviors (Extrovert and Introvert). Participants' perceptions and ratings of the robot's behaviors differed with regard to both verbal interactions and person following by the robot. The study also confirms that the VHRI methodology provides a valuable means to obtain early user feedback, even before fully working prototypes are available. This can usefully guide the future design studies on robots, and associated verbal and non-verbal behaviors.
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| 3. |
- Hawes, N., et al.
(författare)
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Home alone : Autonomous extension and correction of spatial representations
- 2011
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Konferensbidrag (refereegranskat)abstract
- In this paper we present an account of the problems faced by a mobile robot given an incomplete tour of an unknown environment, and introduce a collection of techniques which can generate successful behaviour even in the presence of such problems. Underlying our approach is the principle that an autonomous system must be motivated to act to gather new knowledge, and to validate and correct existing knowledge. This principle is embodied in Dora, a mobile robot which features the aforementioned techniques: shared representations, non-monotonic reasoning, and goal generation and management. To demonstrate how well this collection of techniques work in real-world situations we present a comprehensive analysis of the Dora system's performance over multiple tours in an indoor environment. In this analysis Dora successfully completed 18 of 21 attempted runs, with all but 3 of these successes requiring one or more of the integrated techniques to recover from problems.
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| 4. |
- Krajnik, T., et al.
(författare)
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Long-term topological localisation for service robots in dynamic environments using spectral maps
- 2014
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. Proceedings. - : IEEE Press. - 2153-0858 .- 2153-0866. - 9781479969340 ; , s. 4537-4542
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a new approach for topological localisation of service robots in dynamic indoor environments. In contrast to typical localisation approaches that rely mainly on static parts of the environment, our approach makes explicit use of information about changes by learning and modelling the spatio-temporal dynamics of the environment where the robot is acting. The proposed spatio-temporal world model is able to predict environmental changes in time, allowing the robot to improve its localisation capabilities during long-term operations in populated environments. To investigate the proposed approach, we have enabled a mobile robot to autonomously patrol a populated environment over a period of one week while building the proposed model representation. We demonstrate that the experience learned during one week is applicable for topological localization even after a hiatus of three months by showing that the localization error rate is significantly lower compared to static environment representations.
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| 5. |
- Peltason, J., et al.
(författare)
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Mixed-initiative in human augmented mapping
- 2009
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Ingår i: ICRA. - : IEEE. - 9781424427895 ; , s. 2146-2153
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Konferensbidrag (refereegranskat)abstract
- In scenarios that require a close collaboration and knowledge transfer between inexperienced users and robots, the "learning by interacting" paradigm goes hand in hand with appropriate representations and learning methods. In this paper we discuss a mixed initiative strategy for robotic learning by interacting with a user in a joint map acquisition process. We propose the integration of an environment representation approach into our interactive learning framework. The environment representation and mapping system supports both user driven and data driven strategies for the acquisition of spatial information, so that a mixed initiative strategy for the learning process is realised. We evaluate our system with test runs according to the scenario of a guided tour, extending the area of operation from structured laboratory environment to less predictable domestic settings.
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| 6. |
- Spexard, T., et al.
(författare)
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Interaction awareness for joint environment exploration
- 2007
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Ingår i: 2007 RO-MAN. - New York : IEEE. - 1424416345 - 9781424416349 ; , s. 546-551
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Konferensbidrag (refereegranskat)abstract
- An important goal for research on service robots is the cooperation of a human and a robot as team. A service robot in a domestic environment needs to build a representation of its future workspace that corresponds to the human user's understanding of these surroundings. But it also needs to apply this model about the "where" and "what" in its current interaction to allow communication about objects and places in a human-adequate way. In this paper we present the integration of a hierarchical robotic mapping system into an interactive framework controlled by a dialog system. The goal is to use interactively acquired environment models to implement a robot with interaction aware behaviors. A major contribution of this work is a three-level hierarchy of spatial representation affecting three different communication dimensions. This hierarchy is consequently applied in the design of the grounding-based dialog, laser-based topological mapping, and an objects attention system. We demonstrate the benefits of this integration for learning and tour guiding in a human-comprehensible interaction between a robot and its user in a home-tour scenario. The enhanced interaction capabilities are crucial for developing a new generation of robots that will be accepted not only as service robots but also as robot companions.
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| 7. |
- Wyatt, Jeremy L., et al.
(författare)
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Self-Understanding and Self-Extension : A Systems and Representational Approach
- 2010
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Ingår i: IEEE T AUTON MENT DE. - 1943-0604. ; 2:4, s. 282-303
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Tidskriftsartikel (refereegranskat)abstract
- There are many different approaches to building a system that can engage in autonomous mental development. In this paper, we present an approach based on what we term self-understanding, by which we mean the explicit representation of and reasoning about what a system does and does not know, and how that knowledge changes under action. We present an architecture and a set of representations used in two robot systems that exhibit a limited degree of autonomous mental development, which we term self-extension. The contributions include: representations of gaps and uncertainty for specific kinds of knowledge, and a goal management and planning system for setting and achieving learning goals.
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