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and K.Dautenhahn. A survey of socially interactive robots. Robotics and Autonomous Systems, (2003)

by I Nourbakhsh T Fong
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Developmental robotics: a survey

by Max Lungarella, Giorgio Metta , Rolf Pfeifer , Giulio Sandini - CONNECTION SCIENCE , 2004
"... Developmental robotics is an emerging field located at the intersection of robotics, cognitive science and developmental sciences. This paper elucidates the main reasons and key motivations behind the convergence of fields with seemingly disparate interests, and shows why developmental robotics migh ..."
Abstract - Cited by 184 (13 self) - Add to MetaCart
Developmental robotics is an emerging field located at the intersection of robotics, cognitive science and developmental sciences. This paper elucidates the main reasons and key motivations behind the convergence of fields with seemingly disparate interests, and shows why developmental robotics might prove to be beneficial for all fields involved. The methodology advocated is synthetic and two-pronged: on the one hand, it employs robots to instantiate models originating from developmental sciences; on the other hand, it aims to develop better robotic systems by exploiting insights gained from studies on ontogenetic development. This paper gives a survey of the relevant research issues and points to some future research directions.

Common metrics for human-robot interaction

by Aaron Steinfeld, Michael Lewis, Terrence Fong, Jean Scholtz - In Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction (2006), ACM
"... MD This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally ..."
Abstract - Cited by 102 (5 self) - Add to MetaCart
MD This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress.
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...es perceiving and interpreting the world in terms of past experience, recognizing and modeling users, understanding social communication and norms models, and acquiring/exhibiting social competencies =-=[12]-=-. 3. BIASING EFFECTS While this is not meant to be an exhaustive list, there are many factors that may bias or confound HRI effectiveness. Therefore, care should be taken in measuring system effective...

Social and Collaborative Aspects of Interaction With a Service Robot

by Kerstin Severinson-eklundh, Kerstin Severinson-eklundh, Kerstin Severinson Eklundh, Anders Green, Anders Green, Anders Green, Helge Hüttenrauch, Helge Hüttenrauch, Helge Hüttenrauch , 2003
"... people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human-robot relationships must be understood in the context of use of robots, and based on empirical studies of humans and robots in real settings. ..."
Abstract - Cited by 73 (0 self) - Add to MetaCart
people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human-robot relationships must be understood in the context of use of robots, and based on empirical studies of humans and robots in real settings. This paper discusses social aspects of interaction with a service robot, departing from our experiences of designing a fetch-and-carry robot for motionimpaired users in an office environment. We present the motivations behind the design of the Cero robot, especially its communication paradigm. Finally, we discuss experiences from a recent usage study, and research issues emerging from this work. A conclusion is that addressing only the primary user in service robotics is unsatisfactory, and that the focus should be on the setting, activities and social interactions of the group of people where the robot is to be used. Keywords: service robots, human-robot interaction, social robots, speech interfaces and collaborative aspects of interaction with a service robot 1.

Development environments for autonomous mobile robots: A survey

by James Kramer, Matthias Scheutz - Autonomous Robots , 2007
"... Robotic Development Environments (RDEs) have come to play an increasingly important role in robotics research in general, and for the development of architectures for mobile robots in particular. Yet, no systematic evaluation of available RDEs has been performed; establishing a comprehensive list of ..."
Abstract - Cited by 65 (1 self) - Add to MetaCart
Robotic Development Environments (RDEs) have come to play an increasingly important role in robotics research in general, and for the development of architectures for mobile robots in particular. Yet, no systematic evaluation of available RDEs has been performed; establishing a comprehensive list of evaluation criteria targeted at robotics applications is desirable that can subsequently be used to compare their strengths and weaknesses. Moreover, there are no practical evaluations of the usability and impact of a large selection of RDEs that provides researchers with the information necessary to select an RDE most suited to their needs, nor identifies trends in RDE research that suggest directions for future RDE development. This survey addresses the above by selecting and describing nine open source, freely available RDEs for mobile robots, evaluating and comparing them from various points of view. First, based on previous work concerning agent systems, a conceptual framework of four broad categories is established, encompassing the characteristics and capabilities that an RDE supports. Then, a practical evaluation of RDE usability in designing, implementing, and executing robot architectures is presented. Finally, the impact of specific RDEs on the field of robotics is addressed by providing a list of published applications and research projects that give concrete examples of areas in which systems have been used. The comprehensive evaluation and comparison of the nine RDEs concludes with suggestions of how to use the results of this survey and a brief discussion of future trends in RDE design. 1
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... common, and therefore not included in the evaluation criteria, are support for instruction/teaching (e.g., Skubic & Volz, 1998; Bentivegna & Atkeson, 2002), human robot interaction facilities (e.g., =-=Fong et al., 2003-=-), affect (e.g., Pfeifer, 1988; Moshkina & Arkin, 2003; Scheutz et al., 2006), and coordination mechanisms (e.g., Hoff & Bekey, 1995; Chaimowicz et al., 2003; Dias & Stentz, 2003). 4 RDE Feature Crite...

What is a robot companion - friend, assistant or butler

by Kerstin Dautenhahn, Sarah Woods, Christina Kaouri, Michael L. Walters, Kheng Lee Koay, Iain Werry - In Proc. IEEE IROS , 2005
"... Abstract – The study presented in this paper explored people’s perceptions and attitudes towards the idea of a future robot companion for the home. A human-centred approach was adopted using questionnaires and human-robot interaction trials to derive data from 28 adults. Results indicated that a lar ..."
Abstract - Cited by 61 (15 self) - Add to MetaCart
Abstract – The study presented in this paper explored people’s perceptions and attitudes towards the idea of a future robot companion for the home. A human-centred approach was adopted using questionnaires and human-robot interaction trials to derive data from 28 adults. Results indicated that a large proportion of participants were in favour of a robot companion and saw the potential role as being an assistant, machine or servant. Few wanted a robot companion to be a friend. Household tasks were preferred to child/animal care tasks. Humanlike communication was desirable for a robot companion, whereas humanlike behaviour and appearance were less essential. Results are discussed in relation to future research directions for the development of robot companions. Index Terms – robot companion, robot-human interaction, social robotics, robot appearance, human perception and attitudes I.
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...ell cause relationship difficulties at home by being too efficient and making one feel redundant. Investigating the design space of robots is a challenging task that needs to consider various factors =-=[12]-=-. For example, Goetz et al. [13, 14] revealed that people expect a robot to look and act appropriately for different tasks. A robot that performs in a playful manner is preferred for a fun carefree ga...

How may I serve you? A robot companion approaching a seated person in a helping context

by K. Dautenhahn, M. Walters, S. Woods, K. L. Koay, C. L. Nehaniv, E. A. Sisbot, R. Alami - In Proc. of the ACM International Conference on Human Robot Interaction HRI 06
"... This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using differ ..."
Abstract - Cited by 60 (9 self) - Add to MetaCart
This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using different approach directions. Results of the trials indicated that most subjects disliked a frontal approach, except for a small minority of females, and most subjects preferred to be approached from either the left or right side, with a small overall preference for a right approach by the robot. Handedness and occupation were not related to these preferences. We discuss the results of the user studies in the context of developing a path planning system for a mobile robot.
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...l factors and preferences. The work presented in this paper contributes to the COGNIRON Project [2005]. Part of this research into a cognitive robot companion investigates socially interactive robots =-=[7]-=- from a human-centred perspective, i.e. how robots could be useful in domestic environments; in particular the roles, tasks, and social behaviour(s) that will be necessary for robots to exhibit in ord...

A Human Aware Mobile Robot Motion Planner

by Emrah Akin Sisbot, Luis F. Marin-urias, Rachid Alami, Thierry Siméon
"... Abstract — Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a humanaware motion planner must not only provide safe robot paths, but also synthesize good, socially acceptable and legible p ..."
Abstract - Cited by 56 (7 self) - Add to MetaCart
Abstract — Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a humanaware motion planner must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans. Index Terms — HRI, Motion Planning, Social Interaction I.
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..., that takes into account a motion model of the human as well as his preferences and needs. Let us consider a simple “fetch and carry task” as illustrated in figure 1 for a socially interactive robot =-=[1]-=-. The robot has to perform motion and manipulation actions and should be able to determine where a given task should be achieved, how to place itself relatively to a human, how to approach him, how to...

Navigation for Human-Robot Interaction Tasks

by Philipp Althaus, Hiroshi Ishiguro, Takayuki Kanda, Takahiro Miyashita, Henrik I. Christensen
"... One major design goal in human-robot interaction is that the robots behave in an intelligent manner, preferably in a similar way as humans. This constraint must also be taken into consideration when the navigation system for the platform is developed. However, research in human-robot interaction is ..."
Abstract - Cited by 39 (5 self) - Add to MetaCart
One major design goal in human-robot interaction is that the robots behave in an intelligent manner, preferably in a similar way as humans. This constraint must also be taken into consideration when the navigation system for the platform is developed. However, research in human-robot interaction is often restricted to other components of the system including gestures, manipulation, and speech. On the other hand, research for mobile robot navigation focuses primarily on the task of reaching a certain goal point in an environment. We believe that these two problems can not be treated separately for a personal robot that coexists with humans in the same surrounding. Persons move constantly while they are interacting with each other. Hence, also a robot should do that, which poses constraints on the navigation system. This type of navigation is the focus of this paper. Methods have been developed for a robot to join a group of people engaged in a conversation. Preliminary results show that the platform's moving patterns are very similar to the ones of the persons. Moreover, this dynamic interaction has been judged naturally by the test subjects, which greatly increases the perceived intelligence of the robot.
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...f the navigational task [1], [2]. However, in the research field of personal robotics [3] human-robot interaction is a major issue to be considered. The goal is to develop socially interactive robots =-=[4]-=- that “live” in people’s homes and coexists with humans in their daily life. Also for these types of tasks, the movement of the platform is a basic problem that must be tackled. The constraints on the...

The influence of subjects’ personality traits on personal spatial zones in a human-robot interaction experiment

by Michael L Walters, Kerstin Dautenhahn, René Te Boekhorst, Kheng Lee Koay, Christina Kaouri, Sarah Woods, Chrystopher Nehaniv, David Lee, Iain Werry - in Proceedings of IEEE , 2005
"... Abstract � � � �� � ��� � ������� � ����� � �� � ������������ � ������ ..."
Abstract - Cited by 33 (5 self) - Add to MetaCart
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...anticipated that robots will increasingly be used for applications in office and domestic environments. Therefore they will be required to work alongside and interact closely with the human residents =-=[1]-=-. As the study of socially interactive robots is relatively new, there is not a large body of established theories, methods and research experience to draw upon, so experimenters in the field usually ...

Close encounters: Spatial distances between people and a robot of mechanistic appearance

by Michael L Walters, Kerstin Dautenhahn, Kheng Lee Koay, Christina Kaouri, René Te Boekhorst, Chrystopher Nehaniv, Iain Werry, David Lee - in Proceedings of the IEEE-RAS International Conference on Humanoid Robots , 2005
"... Abstract- This paper presents the results from two empirical exploratory studies of human-robot interaction in the context of an initial encounter with a robot of mechanistic appearance. The first study was carried out with groups of children, and the second with single adults. The analysis concentr ..."
Abstract - Cited by 32 (11 self) - Add to MetaCart
Abstract- This paper presents the results from two empirical exploratory studies of human-robot interaction in the context of an initial encounter with a robot of mechanistic appearance. The first study was carried out with groups of children, and the second with single adults. The analysis concentrates on the personal space zones and initial distances between robot and humans, the context of the encounters and the human’s perception of the robot as a social being. We discuss the results of these observations and analyses, and also compare the child and adult data. The child groups showed a dominant response to prefer the ‘social zone ’ distance, comparable to distances people adopt when talking to other humans. From the single adult studies a small majority preferred the ‘personal zone’, reserved for talking to friends. However, significant minorities deviate from this pattern. Implications for future work are discussed.
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...al social aspects of robots interacting socially with humans. An excellent overview of socially interactive robots (robots designed to interact with humans in a social way) is provided in Fong et al. =-=[1]-=-. As the study of socially interactive robots is relatively new, experimenters in the field often use existing research into human-human social interactions as a starting point. Hall [2] provided the ...

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