2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)最新文献_第7页

Learning Task Constraints in Visual-Action Planning from Demonstrations 从演示中学习视觉行动计划中的任务约束

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515548

Francesco Esposito, Christian Pek, Michael C. Welle, D. Kragic

{"title":"Learning Task Constraints in Visual-Action Planning from Demonstrations","authors":"Francesco Esposito, Christian Pek, Michael C. Welle, D. Kragic","doi":"10.1109/RO-MAN50785.2021.9515548","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515548","url":null,"abstract":"Visual planning approaches have shown great success for decision making tasks with no explicit model of the state space. Learning a suitable representation and constructing a latent space where planning can be performed allows non-experts to setup and plan motions by just providing images. However, learned latent spaces are usually not semantically-interpretable, and thus it is difficult to integrate task constraints. We propose a novel framework to determine whether plans satisfy constraints given demonstrations of policies that satisfy or violate the constraints. The demonstrations are realizations of Linear Temporal Logic formulas which are employed to train Long Short-Term Memory (LSTM) networks directly in the latent space representation. We demonstrate that our architecture enables designers to easily specify, compose and integrate task constraints and achieves high performance in terms of accuracy. Furthermore, this visual planning framework enables human interaction, coping the environment changes that a human worker may involve. We show the flexibility of the method on a box pushing task in a simulated warehouse setting with different task constraints.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"32 1","pages":"131-138"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86601238","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

Human-Robot Trust Assessment Using Top-Down Visual Tracking After Robot Task Execution Mistakes 机器人任务执行错误后基于自上而下视觉跟踪的人机信任评估

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515501

Kasper Hald, M. Rehm, T. Moeslund

{"title":"Human-Robot Trust Assessment Using Top-Down Visual Tracking After Robot Task Execution Mistakes","authors":"Kasper Hald, M. Rehm, T. Moeslund","doi":"10.1109/RO-MAN50785.2021.9515501","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515501","url":null,"abstract":"With increased interest in close-proximity human-robot collaboration in production settings it is important that we understand how robot behaviors and mistakes affect human-robot trust, as a lack of trust can cause loss in productivity and over-trust can lead to hazardous misuse. We designed a system for real-time human-robot trust assessment using a top-down depth camera tracking setup with the goal of using signs of physical apprehension to infer decreases in trust toward the robot. In an experiment with 20 participants we evaluated the tracking system in a repetitive collaborative pick-and-place task where the participant and the robot had to move a set of cones across a table. Midway through the tasks we disrupted the participants expectations by having the robot perform a trust-dampening action. Throughout the tasks we measured the participant’s preferred proximity and their trust toward the robot. Comparing irregular robot movements versus task execution mistakes as well simultaneous versus turn-taking collaboration, we found reported trust was significantly decreased when the robot performed an execution mistake going counter to the shared objective. This decrease was higher for participant working simultaneously as the robot. The effect of the trust-dampening actions on preferred proximity was inconclusive due to unexplained movement trends between tasks throughout the experiment. Despite being given the option to stop the robot in case of abnormal behavior, the trust-dampening actions did not increase the number of participant disruptions for the actions we tested.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"22 1","pages":"892-898"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86216733","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: 3

The CAR Approach: Creative Applied Research Experiences for Master’s Students in Autonomous Platooning CAR方法:自主队列驾驶硕士生的创造性应用研究经验

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515560

G. Sidorenko, Wojciech Mostowski, A. Vinel, J. Sjöberg, M. Cooney

{"title":"The CAR Approach: Creative Applied Research Experiences for Master’s Students in Autonomous Platooning","authors":"G. Sidorenko, Wojciech Mostowski, A. Vinel, J. Sjöberg, M. Cooney","doi":"10.1109/RO-MAN50785.2021.9515560","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515560","url":null,"abstract":"Autonomous vehicles (AVs) are crucial robotic systems that promise to improve our lives via safe, efficient, and inclusive transport–while posing some new challenges for the education of future researchers in the area, that our current research and education might not be ready to deal with: In particular, we don’t know what the AVs of the future will look like, practical learning is restricted due to cost and safety concerns, and a high degree of multidisciplinary knowledge is required. Here, following the broad outline of Active Student Participation theory, we propose a pedagogical approach targeted toward AVs called CAR that combines Creativity theory, Applied demo-oriented learning, and Real world research context. Furthermore, we report on applying the approach to stimulate learning and engagement in a master’s course, in which students freely created a demo with 10 small robots running ROS2 and Ubuntu on Raspberry Pis, in connection to an ongoing research project and a real current problem (SafeSmart and COVID-19). The results suggested the feasibility of the CAR approach for enabling learning, as well as mutual benefits for both the students and researchers involved, and indicated some possibilities for future improvement, toward more effective integration of research experiences into second cycle courses.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"150 1","pages":"214-221"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77405520","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

The Influence of Robot's Unexpected Behavior on Individual Cognitive Performance 机器人意外行为对个体认知表现的影响

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515317

Youdi Li, E. Sato-Shimokawara, Toru Yamaguchi

引用次数: 1

Design and Evaluation of an Affective, Continuum Robotic Appendage for Child-Robot Interaction 用于子-机器人交互的情感连续机器人附属物的设计与评价

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515546

Deanna Kocher, Juliette Bendheim, K. Green

引用次数: 1

Robot Facial Expression Framework for Enhancing Empathy in Human-Robot Interaction 人机交互中增强共情的机器人面部表情框架

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515533

Ung Park, Minso Kim, Youngeun Jang, GiJae Lee, Kanggeon Kim, Igil Kim, Jong-suk Choi

引用次数: 4

Detecting Compensatory Motions and Providing Informative Feedback During a Tangible Robot Assisted Game for Post-Stroke Rehabilitation 在中风后康复的机器人辅助游戏中检测补偿运动并提供信息反馈

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515325

A. Ozgur, Hala Khodr, Barbara Bruno, Nicolas Gandar, M. Wessel, F. Hummel, P. Dillenbourg

{"title":"Detecting Compensatory Motions and Providing Informative Feedback During a Tangible Robot Assisted Game for Post-Stroke Rehabilitation","authors":"A. Ozgur, Hala Khodr, Barbara Bruno, Nicolas Gandar, M. Wessel, F. Hummel, P. Dillenbourg","doi":"10.1109/RO-MAN50785.2021.9515325","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515325","url":null,"abstract":"Gamified rehabilitation tackles the problem of keeping patients engaged in, and motivated to do physical rehabilitation to improve its efficacy. However, with respect to standard rehabilitation, patients are freer to move about and may compensate their motion difficulties with parasite movements, which would greatly reduce the efficacy of the rehabilitation. To identify and characterize compensatory motions, we collected and analyzed video data of people playing the \"tangible Pacman\" game (an upper-limb rehabilitation game in which a patient moves a semi-passive robot, the \"Pacman\", on a map to collect 6 apples, while being chased by one or two autonomous robots, the \"ghosts\"). Participants include 10 healthy elderly adults and 10 chronic stroke patients, who played multiple runs of the game, with different sized maps and various game configurations. By analyzing the video recordings we successfully identified higher shoulder and torso lateral tilt compensation in stroke patients and developed a proof-of-concept compensatory motion detection system which relies on a wearable Inertial Measurement Unit and ROS to provide in-game, real-time visual feedback on compensation.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"45 1","pages":"243-249"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82471947","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: 3

Human-Aware Robot Navigation Based on Learned Cost Values from User Studies 基于用户学习成本值的人类感知机器人导航

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515481

K. Bungert, Lilli Bruckschen, S. Krumpen, Witali Rau, Michael Weinmann, Maren Bennewitz

{"title":"Human-Aware Robot Navigation Based on Learned Cost Values from User Studies","authors":"K. Bungert, Lilli Bruckschen, S. Krumpen, Witali Rau, Michael Weinmann, Maren Bennewitz","doi":"10.1109/RO-MAN50785.2021.9515481","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515481","url":null,"abstract":"In this paper, we present a new approach to human-aware robot navigation, which extends our previous proximity-based navigation framework [1] by introducing visibility and predictability as new parameters. We derived these parameters from a user study and incorporated them into a cost function, which models the user’s discomfort with respect to a relative robot position based on proximity, visibility, predictability, and work efficiency. We use this cost function in combination with an A* planner to create a user-preferred robot navigation policy. In comparison to our previous framework, our new cost function results in a 6% increase in social distance compliance, a 6.3% decrease in visibility of the robot as preferred, and an average decrease of orientation changes of 12.6° per meter resulting in better predictability, while maintaining a comparable average path length. We further performed a virtual reality experiment to evaluate the user comfort based on direct human feedback, finding that the participants on average felt comfortable to very comfortable with the resulting robot trajectories from our approach.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"29 1","pages":"337-342"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73466520","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

Dropping Sensation for Development of Lower Limb Force Feedback Device 下肢力反馈装置的跌落感开发

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515498

T. Masuda, T. Tanaka, Ryunosuke Sawahashi, M. Okui, Rie Nishihama, T. Nakamura

{"title":"Dropping Sensation for Development of Lower Limb Force Feedback Device","authors":"T. Masuda, T. Tanaka, Ryunosuke Sawahashi, M. Okui, Rie Nishihama, T. Nakamura","doi":"10.1109/RO-MAN50785.2021.9515498","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515498","url":null,"abstract":"In this study, we evaluate the dropping sensation for the development of a wearable lower limb force feedback device that can render both dropping and walking sensations. The developed device can render the dropping sensation at a smaller height than in reality by decelerating and stopping descent during the rendering of the drop image. Considering the user will be walking with the device, a smaller device height leads to better safety. The purpose of this study is to clarify the required specifications of the height of the vertical range of motion of the platform part, and the feasibility of the concept of rendering the dropping sensation. For this purpose, the dropping sensation for the difference in human acceleration time and human deceleration acceleration was evaluated. The results showed that the rendering of the dropping sensation required more than 0.41 s of descent at an acceleration of approximately 1377 mm/s2. Moreover, the dropping sensation and sense of reality were not impaired, even when the platform part of the foot was decelerated. This result indicates that the device can be made smaller.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"9 1","pages":"398-405"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86668494","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: 3

"The robot may not notice my discomfort" – Examining the Experience of Vulnerability for Trust in Human-Robot Interaction “机器人可能不会注意到我的不适”——考察人机交互中信任的脆弱性体验

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI: 10.1109/RO-MAN50785.2021.9515513

Glenda Hannibal, A. Weiss, V. Charisi

{"title":"\"The robot may not notice my discomfort\" – Examining the Experience of Vulnerability for Trust in Human-Robot Interaction","authors":"Glenda Hannibal, A. Weiss, V. Charisi","doi":"10.1109/RO-MAN50785.2021.9515513","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515513","url":null,"abstract":"Ensuring trust in human-robot interaction (HRI) is considered essential for widespread use of robots in society and everyday life. While the majority of studies use game-based and high-risk scenarios with low familiarity to gain a deeper understanding of human trust in robots, scenarios with more subtle trust violations that could happen in everyday life situations are less often considered. In this paper, we present a theory-driven approach to studying the situated trust in HRI by focusing on the experience of vulnerability. Focusing on vulnerability not only challenges previous work on trust in HRI from a theoretical perspective, but is also useful for guiding empirical investigations. As a first proof-of-concept study, we conducted an interactive online survey that demonstrates that it is possible to measure human experience of vulnerability in the ordinary, mundane, and familiar situation of clothes shopping. We conclude that the inclusion of subtle trust violation scenarios occurring in the everyday life situation of clothes shopping enables a better understanding of situated trust in HRI, which is of special importance when considering more near-future applications of robots.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"118 1","pages":"704-711"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87686925","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: 7