We present our preliminary work on a multimodal control architecture that enables an operator to manage an autonomous Unmanned Aerial Vehicle (UAV) through high level tasks in an indoors environment. The intelligence embedded in our architecture is able to decode these tasks into low level instructions that a UAV is able to execute. Our system allows the user to operate the UAV through speech, text or keyboard/mouse input, all presented in a web based graphical user interface that can be accessed from any Internet powered device.
{"title":"A Multimodal Control Architecture for Autonomous Unmanned Aerial Vehicles","authors":"M. A. Gutierrez, L. F. D’Haro, Rafael E. Banchs","doi":"10.1145/2974804.2980522","DOIUrl":"https://doi.org/10.1145/2974804.2980522","url":null,"abstract":"We present our preliminary work on a multimodal control architecture that enables an operator to manage an autonomous Unmanned Aerial Vehicle (UAV) through high level tasks in an indoors environment. The intelligence embedded in our architecture is able to decode these tasks into low level instructions that a UAV is able to execute. Our system allows the user to operate the UAV through speech, text or keyboard/mouse input, all presented in a web based graphical user interface that can be accessed from any Internet powered device.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123975580","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}
In the last few years, a shift from mass production to mass customisation is observed in the industry. Easily reprogrammable robots that can perform a wide variety of tasks are desired to keep up with the trend of mass customisation while saving costs and development time. Learning by Demonstration (LfD) is an easy way to program the robots in an intuitive manner and provides a solution to this problem. In this work, we discuss and evaluate LAP, a three-stage LfD method that conforms to the criteria for the high-mix-low-volume (HMLV) industrial settings. The algorithm learns a trajectory in the task space after which small segments can be adapted on-the-fly by using a human-in-the-loop approach. The human operator acts as a high-level adaptation, correction and evaluation mechanism to guide the robot. This way, no sensors or complex feedback algorithms are needed to improve robot behaviour, so errors and inaccuracies induced by these subsystems are avoided. After the system performs at a satisfactory level after the adaptation, the operator will be removed from the loop. The robot will then proceed in a feed-forward fashion to optimise for speed. We demonstrate this method by simulating an industrial painting application. A KUKA LBR iiwa is taught how to draw an eight figure which is reshaped by the operator during adaptation.
{"title":"LAP: A Human-in-the-loop Adaptation Approach for Industrial Robots","authors":"W. Ko, Yan Wu, K. Tee","doi":"10.1145/2974804.2974805","DOIUrl":"https://doi.org/10.1145/2974804.2974805","url":null,"abstract":"In the last few years, a shift from mass production to mass customisation is observed in the industry. Easily reprogrammable robots that can perform a wide variety of tasks are desired to keep up with the trend of mass customisation while saving costs and development time. Learning by Demonstration (LfD) is an easy way to program the robots in an intuitive manner and provides a solution to this problem. In this work, we discuss and evaluate LAP, a three-stage LfD method that conforms to the criteria for the high-mix-low-volume (HMLV) industrial settings. The algorithm learns a trajectory in the task space after which small segments can be adapted on-the-fly by using a human-in-the-loop approach. The human operator acts as a high-level adaptation, correction and evaluation mechanism to guide the robot. This way, no sensors or complex feedback algorithms are needed to improve robot behaviour, so errors and inaccuracies induced by these subsystems are avoided. After the system performs at a satisfactory level after the adaptation, the operator will be removed from the loop. The robot will then proceed in a feed-forward fashion to optimise for speed. We demonstrate this method by simulating an industrial painting application. A KUKA LBR iiwa is taught how to draw an eight figure which is reshaped by the operator during adaptation.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115256788","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}
We propose a multi party conversational social interface NAMIDA through a pilot study. The system consists of three robots that can converse with each other about environment throughout the road. Through this model, the directed utterances towards the driver diminishes by utilizing turn-taking process between the agents, and the mental workload of the driver can be reduced compared to the conventional one-to-one communication based approach that directly addresses the driver. We set up an experiment to compare the both approaches to explore their effects on the workload and attention behaviors of drivers. The results indicated that the multi-party conversational approach has a better effect on reducing certain workload factors. Also, the analysis of attention behaviors of drivers revealed that our method can better promote the drivers to focus on the road.
{"title":"NAMIDA: Sociable Driving Agents with Multiparty Conversation","authors":"Nihan Karatas, Soshi Yoshikawa, M. Okada","doi":"10.1145/2974804.2974811","DOIUrl":"https://doi.org/10.1145/2974804.2974811","url":null,"abstract":"We propose a multi party conversational social interface NAMIDA through a pilot study. The system consists of three robots that can converse with each other about environment throughout the road. Through this model, the directed utterances towards the driver diminishes by utilizing turn-taking process between the agents, and the mental workload of the driver can be reduced compared to the conventional one-to-one communication based approach that directly addresses the driver. We set up an experiment to compare the both approaches to explore their effects on the workload and attention behaviors of drivers. The results indicated that the multi-party conversational approach has a better effect on reducing certain workload factors. Also, the analysis of attention behaviors of drivers revealed that our method can better promote the drivers to focus on the road.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116088395","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}
The global trend of population ageing has magnified the shortage of qualified staff in the elderly care industry. This study evaluates the feasibility and user experience of introducing robots in elderly care services. A robot instructor was being benchmarked against a human instructor administering two types of activities with 41 elderly participants. The results show that robot was more effective and better preferred by users over human instructor on instructing physical exercise, while reaching similar level of effectiveness and user acceptance on information delivery. Additionally, user perception of robots improved after the robot experiment session. These findings could be useful for future design of robots for elderly users and for social robots in general.
{"title":"Investigation of Practical Use of Humanoid Robots in Elderly Care Centres","authors":"Zhuoyu Shen, Yan Wu","doi":"10.1145/2974804.2980485","DOIUrl":"https://doi.org/10.1145/2974804.2980485","url":null,"abstract":"The global trend of population ageing has magnified the shortage of qualified staff in the elderly care industry. This study evaluates the feasibility and user experience of introducing robots in elderly care services. A robot instructor was being benchmarked against a human instructor administering two types of activities with 41 elderly participants. The results show that robot was more effective and better preferred by users over human instructor on instructing physical exercise, while reaching similar level of effectiveness and user acceptance on information delivery. Additionally, user perception of robots improved after the robot experiment session. These findings could be useful for future design of robots for elderly users and for social robots in general.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126246263","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}
In this research, we focus on physiological phenomena expression of robots, propose the Body-Emotion Model (BEM), which concerns the relationship between the internal states of robots and their involuntary physical reactions. We expect that the robot will be able to express the delicate nuances of its intention by controlling robots' emotions and feelings with each individual parameter based on BEM. We propose a stuffed-toy robot system, BREAR, which has a mechanical structure to express breathing, heartbeating, temperature, and bodily movement. The breathing mechanism commonly controls the abdominal motion, breathing motion, and air flows of breath. In this paper, we focus on robot's breathing, verify two subjective evaluations: 1) the user's sense that the robot was alive and 2) the perceived states of the robot based on its breathing speed. The results showed that our proposed method of breathing expression can show a state of living and that the breathing speed was interpreted as the robot's emotion of arousal.
{"title":"Investigating Breathing Expression of a Stuffed-Toy Robot Based on Body-Emotion Model","authors":"Naoto Yoshida, Tomoko Yonezawa","doi":"10.1145/2974804.2974817","DOIUrl":"https://doi.org/10.1145/2974804.2974817","url":null,"abstract":"In this research, we focus on physiological phenomena expression of robots, propose the Body-Emotion Model (BEM), which concerns the relationship between the internal states of robots and their involuntary physical reactions. We expect that the robot will be able to express the delicate nuances of its intention by controlling robots' emotions and feelings with each individual parameter based on BEM. We propose a stuffed-toy robot system, BREAR, which has a mechanical structure to express breathing, heartbeating, temperature, and bodily movement. The breathing mechanism commonly controls the abdominal motion, breathing motion, and air flows of breath. In this paper, we focus on robot's breathing, verify two subjective evaluations: 1) the user's sense that the robot was alive and 2) the perceived states of the robot based on its breathing speed. The results showed that our proposed method of breathing expression can show a state of living and that the breathing speed was interpreted as the robot's emotion of arousal.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125810884","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}
M. Shiomi, Kasumi Abe, Yachao Pei, Narumitsu Ikeda, T. Nagai
Social robots are used for interacting with children. Their novelty often stimulates the interest of children and encourages such interaction as playing with them. However, some children do not interact with such robots and instead strongly reject interaction with them. Understanding such rejection behaviors of children has important design implications for social robots that are supposed to interact with children. For this purpose, we investigated what kinds of rejection behaviors appeared in different kinds of robots in a play room environment.
{"title":"\"I'm Scared\": Little Children Reject Robots","authors":"M. Shiomi, Kasumi Abe, Yachao Pei, Narumitsu Ikeda, T. Nagai","doi":"10.1145/2974804.2980493","DOIUrl":"https://doi.org/10.1145/2974804.2980493","url":null,"abstract":"Social robots are used for interacting with children. Their novelty often stimulates the interest of children and encourages such interaction as playing with them. However, some children do not interact with such robots and instead strongly reject interaction with them. Understanding such rejection behaviors of children has important design implications for social robots that are supposed to interact with children. For this purpose, we investigated what kinds of rejection behaviors appeared in different kinds of robots in a play room environment.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125997744","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}
Masashi Nishiyama, Tsubasa Miyauchi, Hiroki Yoshimura, Y. Iwai
We propose a method for synthesizing body sway to give human-like movement to image-based avatars. This method is based on an analysis of body sway in real people. Existing methods mainly handle the action states of avatars without sufficiently considering the wait states that exist between them. The wait state is essential for filling the periods before and after interaction. Users require both wait and action states to naturally communicate with avatars in interactive systems. Our method measures temporal changes in the body sway motion of each body part of a standing subject using a single-camera video sequence. We are able to synthesize a new video sequence with body sway over an arbitrary length of time by randomly transitioning between points in the sequence when the motion is close to zero. The results of a subjective assessment show that avatars with body sway synthesized by our method appeared more alive to users than those using baseline methods.
{"title":"Synthesizing Realistic Image-based Avatars by Body Sway Analysis","authors":"Masashi Nishiyama, Tsubasa Miyauchi, Hiroki Yoshimura, Y. Iwai","doi":"10.1145/2974804.2974807","DOIUrl":"https://doi.org/10.1145/2974804.2974807","url":null,"abstract":"We propose a method for synthesizing body sway to give human-like movement to image-based avatars. This method is based on an analysis of body sway in real people. Existing methods mainly handle the action states of avatars without sufficiently considering the wait states that exist between them. The wait state is essential for filling the periods before and after interaction. Users require both wait and action states to naturally communicate with avatars in interactive systems. Our method measures temporal changes in the body sway motion of each body part of a standing subject using a single-camera video sequence. We are able to synthesize a new video sequence with body sway over an arbitrary length of time by randomly transitioning between points in the sequence when the motion is close to zero. The results of a subjective assessment show that avatars with body sway synthesized by our method appeared more alive to users than those using baseline methods.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"520 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131774450","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}
M. Shiomi, Kasumi Abe, Yachao Pei, Tingyi Zhang, Narumitsu Ikeda, T. Nagai
This paper reports a tele-presence robot named ChiCaRo, which is designed for interaction with babies and toddlers. ChiCaRo can physically interact with babies and toddlers by moving around and using its small hand. We conducted a field trial at a playroom where babies and toddlers can freely play to investigate ChiCaRo's effectiveness. In the experiment adult participants interacted with their babies and toddlers by ChiCaRo and another robot. The adult participants evaluated ChiCaRo highly in the context of remote interaction with their babies and toddlers.
{"title":"ChiCaRo: Tele-presence Robot for Interacting with Babies and Toddlers","authors":"M. Shiomi, Kasumi Abe, Yachao Pei, Tingyi Zhang, Narumitsu Ikeda, T. Nagai","doi":"10.1145/2974804.2980496","DOIUrl":"https://doi.org/10.1145/2974804.2980496","url":null,"abstract":"This paper reports a tele-presence robot named ChiCaRo, which is designed for interaction with babies and toddlers. ChiCaRo can physically interact with babies and toddlers by moving around and using its small hand. We conducted a field trial at a playroom where babies and toddlers can freely play to investigate ChiCaRo's effectiveness. In the experiment adult participants interacted with their babies and toddlers by ChiCaRo and another robot. The adult participants evaluated ChiCaRo highly in the context of remote interaction with their babies and toddlers.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116463874","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}
In this research, we aim to suggest a method for designing trustworthy PRVAs (product recommendation virtual agents). We define an agent's trustworthiness as being operated by user emotion and knowledgeableness perceived by humans. Also, we suggest a user inner state transition model for increasing trust. To increase trust, we aim to cause user emotion to transition to positive by using emotional contagion and to cause user knowledgeableness perceived to become higher by increasing an agent's knowledge. We carried out two experiments to inspect this model. In experiment 1, the PRVAs recommended package tours and became highly knowledgeable in the latter half of ten recommendations. In experiment 2, the PRVAs recommended the same package tours and expressed a positive emotion in the latter half. As a result, participants' inner states transitioned as we expected, and it was proved that this model was valuable for PRVA recommendation.
{"title":"Building Trust in PRVAs by User Inner State Transition through Agent State Transition","authors":"T. Matsui, S. Yamada","doi":"10.1145/2974804.2974816","DOIUrl":"https://doi.org/10.1145/2974804.2974816","url":null,"abstract":"In this research, we aim to suggest a method for designing trustworthy PRVAs (product recommendation virtual agents). We define an agent's trustworthiness as being operated by user emotion and knowledgeableness perceived by humans. Also, we suggest a user inner state transition model for increasing trust. To increase trust, we aim to cause user emotion to transition to positive by using emotional contagion and to cause user knowledgeableness perceived to become higher by increasing an agent's knowledge. We carried out two experiments to inspect this model. In experiment 1, the PRVAs recommended package tours and became highly knowledgeable in the latter half of ten recommendations. In experiment 2, the PRVAs recommended the same package tours and expressed a positive emotion in the latter half. As a result, participants' inner states transitioned as we expected, and it was proved that this model was valuable for PRVA recommendation.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134264730","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}
This paper proposes an interactive manager agent system that adjusts schedule among multiple persons through negotiations on behalf of a human organizer, such as a steward or team manager. In order to increase the users' cooperative decision-making, we implemented the manager agent that negotiates with each member on the schedule using 1) the suitable attitude depending on current situation and partner of negotiation and 2) the graphical representation of background negotiations between the agent and the other users: a) the other users' icons, b) the blinking balloons of both the other users and the agent, and c) the agent's looking-back actions for the other users' icons. The results of the evaluations showed that both the individual use and the combination of the proposed expressions could make the participants feel i) as though there were under-going negotiations between the agent and the other users and ii) as though the agent had both the effort and compassion to the user. Moreover, the user's cooperative decision-making was increased by the proposed method.
{"title":"Evaluation of Schedule Managing Agent among Multiple Members with Representation of Background Negotiations","authors":"Tomoko Yonezawa, Kunihiko Fujiwara, Naoto Yoshida","doi":"10.1145/2974804.2974812","DOIUrl":"https://doi.org/10.1145/2974804.2974812","url":null,"abstract":"This paper proposes an interactive manager agent system that adjusts schedule among multiple persons through negotiations on behalf of a human organizer, such as a steward or team manager. In order to increase the users' cooperative decision-making, we implemented the manager agent that negotiates with each member on the schedule using 1) the suitable attitude depending on current situation and partner of negotiation and 2) the graphical representation of background negotiations between the agent and the other users: a) the other users' icons, b) the blinking balloons of both the other users and the agent, and c) the agent's looking-back actions for the other users' icons. The results of the evaluations showed that both the individual use and the combination of the proposed expressions could make the participants feel i) as though there were under-going negotiations between the agent and the other users and ii) as though the agent had both the effort and compassion to the user. Moreover, the user's cooperative decision-making was increased by the proposed method.","PeriodicalId":185756,"journal":{"name":"Proceedings of the Fourth International Conference on Human Agent Interaction","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132337900","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}
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