2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)最新文献_第10页

A Participatory Design Process of a Robotic Tutor of Assistive Sign Language for Children with Autism 自闭症儿童辅助手语机器人导师的参与式设计过程

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956309

Minja Axelsson, M. Racca, Daryl Weir, V. Kyrki

{"title":"A Participatory Design Process of a Robotic Tutor of Assistive Sign Language for Children with Autism","authors":"Minja Axelsson, M. Racca, Daryl Weir, V. Kyrki","doi":"10.1109/RO-MAN46459.2019.8956309","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956309","url":null,"abstract":"We present the participatory design process of a robotic tutor of assistive sign language for children with autism spectrum disorder (ASD). Robots have been used in autism therapy, and to teach sign language to neurotypical children. The application of teaching assistive sign language — the most common form of assistive and augmentative communication used by people with ASD — is novel. The robot’s function is to prompt children to imitate the assistive signs that it performs. The robot was therefore co-designed to appeal to children with ASD, taking into account the characteristics of ASD during the design process: impaired language and communication, impaired social behavior, and narrow flexibility in daily activities. To accommodate these characteristics, a multidisciplinary team defined design guidelines specific to robots for children with ASD, which were followed in the participatory design process. With a pilot study where the robot prompted children to imitate nine assistive signs, we found support for the effectiveness of the design. The children successfully imitated the robot and kept their focus on it, as measured by their eye gaze. Children and their companions reported positive experiences with the robot, and companions evaluated it as potentially useful, suggesting that robotic devices could be used to teach assistive sign language to children with ASD.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134624455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

The Power to Persuade: a study of Social Power in Human-Robot Interaction 说服的力量:人机互动中的社会权力研究

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956298

Mojgan Hashemian, Ana Paiva, S. Mascarenhas, P. A. Santos, R. Prada

{"title":"The Power to Persuade: a study of Social Power in Human-Robot Interaction","authors":"Mojgan Hashemian, Ana Paiva, S. Mascarenhas, P. A. Santos, R. Prada","doi":"10.1109/RO-MAN46459.2019.8956298","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956298","url":null,"abstract":"Recent advances on Social Robotics raise the question whether a social robot can be used as a persuasive agent. To date, a body of literature has been performed using various approaches to answer this research question, ranging from the use of non-verbal behavior to the exploration of different embodiment characteristics. In this paper, we investigate the role of social power for making social robots more persuasive. Social power is defined as one’s ability to influence another to do something which s/he would not do without the presence of such power. Different theories classify alternative ways to achieve social power, such as providing a reward, using coercion, or acting as an expert. In this work, we explored two types of persuasive strategies that are based on social power (specifically Reward and Expertise) and created two social robots that would employ such strategies. To examine the effectiveness of these strategies we performed a user study with 51 participants using two social robots in an adversarial setting in which both robots try to persuade the user on a concrete choice. The results show that even though each of the strategies caused the robots to be perceived differently in terms of their competence and warmth, both were similarly persuasive.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131649182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

PIVO: Probabilistic Inverse Velocity Obstacle for Navigation under Uncertainty 不确定条件下导航的概率逆速度障碍

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956406

P. N. Jyotish, Yash Goel, A. V. S. S. B. Kumar, K. Krishna

引用次数: 5

Path Planning through Tight Spaces for Payload Transportation using Multiple Mobile Manipulators 基于多移动机械手的载荷运输路径规划

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956426

Rahul Tallamraju, V. Sripada, S. Shah

引用次数: 1

Teaching a Robot how to Spatially Arrange Objects: Representation and Recognition Issues 教机器人如何在空间上排列物体:表示和识别问题

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956457

Luca Buoncompagni, F. Mastrogiovanni

引用次数: 3

Probabilistic obstacle avoidance and object following: An overlap of Gaussians approach 概率避障与目标跟踪:高斯方法的重叠

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956314

Dhaivat Bhatt, Akash Garg, Bharath Gopalakrishnan, K. Krishna

{"title":"Probabilistic obstacle avoidance and object following: An overlap of Gaussians approach","authors":"Dhaivat Bhatt, Akash Garg, Bharath Gopalakrishnan, K. Krishna","doi":"10.1109/RO-MAN46459.2019.8956314","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956314","url":null,"abstract":"Autonomous navigation and obstacle avoidance are core capabilities that enable robots to execute tasks in the real world. We propose a new approach to collision avoidance that accounts for uncertainty in the states of the agent and the obstacles. We first demonstrate that measures of entropy— used in current approaches for uncertainty-aware obstacle avoidance—are an inappropriate design choice. We then propose an algorithm that solves an optimal control sequence with a guaranteed risk bound, using a measure of overlap between the two distributions that represent the state of the robot and the obstacle, respectively. Furthermore, we provide closed form expressions that can characterize the overlap as a function of the control input. The proposed approach enables model-predictive control framework to generate bounded-confidence control commands. An extensive set of simulations have been conducted in various constrained environments in order to demonstrate the efficacy of the proposed approach over the prior art. We demonstrate the usefulness of the proposed scheme under tight spaces where computing risk-sensitive control maneuvers is vital. We also show how this framework generalizes to other problems, such as object-following.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123977294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

End-User Programming of Low-and High-Level Actions for Robotic Task Planning 机器人任务规划中低级和高级动作的最终用户编程

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956327

Y. Liang, D. Pellier, H. Fiorino, S. Pesty

{"title":"End-User Programming of Low-and High-Level Actions for Robotic Task Planning","authors":"Y. Liang, D. Pellier, H. Fiorino, S. Pesty","doi":"10.1109/RO-MAN46459.2019.8956327","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956327","url":null,"abstract":"Programming robots for general purpose applications is extremely challenging due to the great diversity of end-user tasks ranging from manufacturing environments to personal homes. Recent work has focused on enabling end-users to program robots using Programming by Demonstration. However, teaching robots new actions from scratch that can be reused for unseen tasks remains a difficult challenge and is generally left up to robotic experts. We propose iRoPro, an interactive Robot Programming framework that allows end-users to teach robots new actions from scratch and reuse them with a task planner. In this work we provide a system implementation on a two-armed Baxter robot that (i) allows simultaneous teaching of low-and high-level actions by demonstration, (ii) includes a user interface for action creation with condition inference and modification, and (iii) allows creating and solving previously unseen problems using a task planner for the robot to execute in real-time. We evaluate the generalisation power of the system on six benchmark tasks and show how taught actions can be easily reused for complex tasks. We further demonstrate its usability with a user study (N=21), where users completed eight tasks to teach the robot new actions that are reused with a task planner. The study demonstrates that users with any programming level and educational background can easily learn and use the system.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121312395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

“You Are Doing so Great!” – The Effect of a Robot’s Interaction Style on Self-Efficacy in HRI “你做得太棒了!”——HRI中机器人互动方式对自我效能的影响

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956437

Setareh Zafari, Isabel Schwaninger, Matthias Hirschmanner, Christina Schmidbauer, A. Weiss, S. Koeszegi

{"title":"“You Are Doing so Great!” – The Effect of a Robot’s Interaction Style on Self-Efficacy in HRI","authors":"Setareh Zafari, Isabel Schwaninger, Matthias Hirschmanner, Christina Schmidbauer, A. Weiss, S. Koeszegi","doi":"10.1109/RO-MAN46459.2019.8956437","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956437","url":null,"abstract":"People form mental models about robots’ behavior and intention as they interact with them. The aim of this paper is to evaluate the effect of different interaction styles on self-efficacy in human-robot interaction (HRI), people’s perception of the robot, and task engagement. We conducted a user study in which a social robot assists people verbally while building a house of cards. Data from our experimental study revealed that people engaged longer in the task while interacting with a robot that provides person related feedback than with a robot that gives no person or task related feedback. Moreover, people interacting with a robot with a person-oriented interaction style reported a higher self-efficacy in HRI, perceived higher agreeableness of the robot and found the interaction less frustrating, as compared to a robot with a task-oriented interaction style. This suggests that a robot’s interaction style can be considered as a key factor for increasing people’s perceived self-efficacy in HRI, which is essential for establishing trust and enabling Human-robot collaboration.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128369029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Dynamic Calibration between a Mobile Robot and SLAM Device for Navigation 移动机器人与SLAM导航装置的动态标定

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956356

Ryoichi Ishikawa, Takeshi Oishi, K. Ikeuchi

{"title":"Dynamic Calibration between a Mobile Robot and SLAM Device for Navigation","authors":"Ryoichi Ishikawa, Takeshi Oishi, K. Ikeuchi","doi":"10.1109/RO-MAN46459.2019.8956356","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956356","url":null,"abstract":"In this paper, we propose a dynamic calibration between a mobile robot and a device using simultaneous localization and mapping (SLAM) technology, which we termed as the SLAM device, for a robot navigation system. The navigation framework assumes loose mounting of SLAM device for easy use and requires an online adjustment to remove localization errors. The online adjustment method dynamically corrects not only the calibration errors between the SLAM device and the part of the robot to which the device is attached but also the robot encoder errors by calibrating the whole body of the robot. The online adjustment assumes that the information of the external environment and shape information of the robot are consistent. In addition to the online adjustment, we also present an offline calibration between a robot and device. The offline calibration is motion-based and we clarify the most efficient method based on the number of degrees-of-freedom of the robot movement. Our method can be easily used for various types of robots with sufficiently precise localization for navigation. In the experiments, we confirm the parameters obtained via two types of offline calibration based on the degree of freedom of robot movement. We also validate the effectiveness of the online adjustment method by plotting localized position errors during a robots intense movement. Finally, we demonstrate the navigation using a SLAM device.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128634942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Generation of expressive motions for a tabletop robot interpolating from hand-made animations 桌面机器人从手工动画插值生成富有表现力的动作

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956246

Gonzalo Mier, F. Caballero, Keisuke Nakamura, L. Merino, R. Gomez

引用次数: 0