Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625765
Setareh Zafari, Sabine T. Köszegi
Robots are expected to become a significant part of our lives in the future. In this conceptual paper, we discuss how (social) agency is ascribed to robots and how this form of machine agency can be conceptualized for an analysis of socio-technical systems. Further, we develop a typology of autonomous artificial agents which can be used to address their social impacts within a socio-technical system. We conclude by outlining implications for designers and advancing an agenda for future research.
{"title":"Machine agency in socio-technical systems: A typology of autonomous artificial agents","authors":"Setareh Zafari, Sabine T. Köszegi","doi":"10.1109/ARSO.2018.8625765","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625765","url":null,"abstract":"Robots are expected to become a significant part of our lives in the future. In this conceptual paper, we discuss how (social) agency is ascribed to robots and how this form of machine agency can be conceptualized for an analysis of socio-technical systems. Further, we develop a typology of autonomous artificial agents which can be used to address their social impacts within a socio-technical system. We conclude by outlining implications for designers and advancing an agenda for future research.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122468404","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625764
C. D. Jong, C. L. V. Straten, J. Peter, R. Kühne, Àlex Barco
As child-robot interaction (CRI) is still a young and rather dispersed field, it largely lacks conceptual and operational definitions of variables relevant to CRI. In our current study, we aim to develop and validate a set of standardized self-report survey measures relevant for CRI research. By means of these standardized self-report measures we hope to increase the conclusive power of individual studies and comparability across studies.
{"title":"Children and social robots: Inventory of measures for CRI research","authors":"C. D. Jong, C. L. V. Straten, J. Peter, R. Kühne, Àlex Barco","doi":"10.1109/ARSO.2018.8625764","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625764","url":null,"abstract":"As child-robot interaction (CRI) is still a young and rather dispersed field, it largely lacks conceptual and operational definitions of variables relevant to CRI. In our current study, we aim to develop and validate a set of standardized self-report survey measures relevant for CRI research. By means of these standardized self-report measures we hope to increase the conclusive power of individual studies and comparability across studies.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129137515","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625830
P. Maurice, Ludivine Allienne, Adrien Malaisé, S. Ivaldi
Human-centered technologies such as collaborative robots, exoskeletons, and wearable sensors are rapidly spreading in industry and manufacturing because of their intrinsic potential at assisting workers and improving their working conditions. The deployment of these technologies, albeit inevitable, poses several ethical and societal issues. Guidelines for ethically aligned design of autonomous and intelligent systems do exist, however we argue that ethical recommendations must necessarily be complemented by an analysis of the social impact of these technologies. In this paper, we report on our preliminary studies on the opinion of factory workers and of people outside this environment on human-centered technologies at work. In light of these studies, we discuss ethical and social considerations for deploying these technologies in a way that improves acceptance.
{"title":"Ethical and Social Considerations for the Introduction of Human-Centered Technologies at Work","authors":"P. Maurice, Ludivine Allienne, Adrien Malaisé, S. Ivaldi","doi":"10.1109/ARSO.2018.8625830","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625830","url":null,"abstract":"Human-centered technologies such as collaborative robots, exoskeletons, and wearable sensors are rapidly spreading in industry and manufacturing because of their intrinsic potential at assisting workers and improving their working conditions. The deployment of these technologies, albeit inevitable, poses several ethical and societal issues. Guidelines for ethically aligned design of autonomous and intelligent systems do exist, however we argue that ethical recommendations must necessarily be complemented by an analysis of the social impact of these technologies. In this paper, we report on our preliminary studies on the opinion of factory workers and of people outside this environment on human-centered technologies at work. In light of these studies, we discuss ethical and social considerations for deploying these technologies in a way that improves acceptance.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114708227","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625786
Huan Xu, Joseph E. Borson
“Autonomous robotics” promise significant improvements across a host of different complex systems, which will need to be managed within regulatory frameworks to promote, at a minimum, device safety. Contrary to how they are often portrayed, however, these systems do not necessarily require fundamentally new approaches to engineering or regulatory challenges, i.e., the development of a novel “autonomy framework” applicable to different types of devices. Rather, because autonomous systems generally represent a progressive improvement of existing complex systems, preexisting regulatory scheme offer the best guidance for considering future regulation of autonomous elements. Moreover, the regulatory landscape differs considerably based on the type of device at issue (e.g., consumer electronics vis-à-vis medical devices).’ This talk argues that users and regulators must consider future autonomy regulations within the specific framework those devices currently inhabit, rather than focusing on a novel set of rules divorced from the preexisting context.
{"title":"The Future of Legal and Ethical Regulations for Autonomous Robotics","authors":"Huan Xu, Joseph E. Borson","doi":"10.1109/ARSO.2018.8625786","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625786","url":null,"abstract":"“Autonomous robotics” promise significant improvements across a host of different complex systems, which will need to be managed within regulatory frameworks to promote, at a minimum, device safety. Contrary to how they are often portrayed, however, these systems do not necessarily require fundamentally new approaches to engineering or regulatory challenges, i.e., the development of a novel “autonomy framework” applicable to different types of devices. Rather, because autonomous systems generally represent a progressive improvement of existing complex systems, preexisting regulatory scheme offer the best guidance for considering future regulation of autonomous elements. Moreover, the regulatory landscape differs considerably based on the type of device at issue (e.g., consumer electronics vis-à-vis medical devices).’ This talk argues that users and regulators must consider future autonomy regulations within the specific framework those devices currently inhabit, rather than focusing on a novel set of rules divorced from the preexisting context.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125700862","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625829
P. Ramirez, S. Ramamoorthy, K. Lohan
Robotic cognitive manipulation methods aim to imitate the human-object interactive process. Most of the of the state-of-the-art literature explore these methods by focusing on the target object or on the robot’s morphology, without including the surrounding environment. Most recent approaches suggest that taking into account the semantic properties of the surrounding environment improves the object recognition. When it comes to human cognitive development methods, these physical qualities are not only inferred from the object but also from the semantic characteristics of the surroundings. Thus the importance of affordances. In affordances, the representation of the perceived physical qualities of the objects gives valuable information about the possible manipulation actions. Hence, our research pursuits to develop a cognitive affordances map by (i) considering the object and the characteristics of the environment in which this object is more likely to appear, and (ii) achieving a learning mechanism that will intrinsically learn these affordances from self-experience.
{"title":"Object Affordances by Inferring on the Surroundings*","authors":"P. Ramirez, S. Ramamoorthy, K. Lohan","doi":"10.1109/ARSO.2018.8625829","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625829","url":null,"abstract":"Robotic cognitive manipulation methods aim to imitate the human-object interactive process. Most of the of the state-of-the-art literature explore these methods by focusing on the target object or on the robot’s morphology, without including the surrounding environment. Most recent approaches suggest that taking into account the semantic properties of the surrounding environment improves the object recognition. When it comes to human cognitive development methods, these physical qualities are not only inferred from the object but also from the semantic characteristics of the surroundings. Thus the importance of affordances. In affordances, the representation of the perceived physical qualities of the objects gives valuable information about the possible manipulation actions. Hence, our research pursuits to develop a cognitive affordances map by (i) considering the object and the characteristics of the environment in which this object is more likely to appear, and (ii) achieving a learning mechanism that will intrinsically learn these affordances from self-experience.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130045624","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625720
Mantian Li, Ran Guo, F. Zha, Fei Chen, Jian Huang
In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.
{"title":"Control Method for The Balance Recovery of Indirect Tight Coordination Task Based on Force Sensor","authors":"Mantian Li, Ran Guo, F. Zha, Fei Chen, Jian Huang","doi":"10.1109/ARSO.2018.8625720","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625720","url":null,"abstract":"In view of the problem of instability of movable objects due to disturbances in indirect tight coordination tasks (ITCT), a set of control methods were proposed. The movable objects can be controlled to return to initial position and maintain dynamic balance with these methods. These methods are based on two six-axis force/torque sensors, which are helpful to determine the position and velocity information of the movable object. With these information, the trajectory of the arms would be generated by the balance recovery controller to indirectly control the acceleration of the movable objects. By planning the acceleration reasonably, the movable objects can eventually return to initial position and keep dynamic balance. Finally, the validity and feasibility of this algorithm are verified by simulation.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121893938","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625806
C. Latella, L. Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, F. Nori, D. Pucci
In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The reason of this interest lies in the application of human-robot-interaction-based technologies in industrial and rehabilitation fields, as well as in daily-life scenarios. The interaction implies communication between two dyadic agents and, if the type of interaction is 'physical', the communication is represented by the set of forces mutually exchanged.
{"title":"Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation","authors":"C. Latella, L. Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, F. Nori, D. Pucci","doi":"10.1109/ARSO.2018.8625806","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625806","url":null,"abstract":"In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The reason of this interest lies in the application of human-robot-interaction-based technologies in industrial and rehabilitation fields, as well as in daily-life scenarios. The interaction implies communication between two dyadic agents and, if the type of interaction is 'physical', the communication is represented by the set of forces mutually exchanged.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116524056","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625783
S. Tadokoro
The ImPACT Tough Robotics Challenge is a national project of Japan Cabinet Office (period: 2014–18, members: 62 PIs and 300 researchers, budget: 30 M USD) that focuses on ‘tough’ technologies of robotics to give solutions to disaster response, recovery and preparedness. This paper presents the research outcome and application to actual disasters as well as its management to achieve disruptive innovations of technology, industry and society.
{"title":"Disruptive Innovation of Disaster Robots - The ImPACT Tough Robotics Challenge","authors":"S. Tadokoro","doi":"10.1109/ARSO.2018.8625783","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625783","url":null,"abstract":"The ImPACT Tough Robotics Challenge is a national project of Japan Cabinet Office (period: 2014–18, members: 62 PIs and 300 researchers, budget: 30 M USD) that focuses on ‘tough’ technologies of robotics to give solutions to disaster response, recovery and preparedness. This paper presents the research outcome and application to actual disasters as well as its management to achieve disruptive innovations of technology, industry and society.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124098338","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625792
Joshua A. Shaffer, Estefany Carrillo, Huan Xu
The need for more robust and trustworthy systems to fight wildfires stems from an annual economic burden exceeding $63.5 billion within the United States, elaborated in [1]. Current uses of unmanned aerial vehicles (UAVs) in such a pursuit typically provide “eyes in the sky”, and these vehicles may one day be capable of fighting such fires on their own, as observed in the small-scale test case of [2]. From such, a fleet of automated UAVs could potentially combat wildfires faster and more efficiently than a team made of only human operators while greatly reducing the danger to human life and property. Furthermore, such an approach could help increase public trust in advanced robotics in ways that directly impact people’s lives. Creating a system to achieve this task requires advancements in both the physical hardware and the AI software to control such a fleet. Our work explores the latter through the use of high-level controllers formed by formal methods, specifically reactive synthesis.
{"title":"Receding Horizon Synthesis and Dynamic Allocation of UAVs to Fight Fires","authors":"Joshua A. Shaffer, Estefany Carrillo, Huan Xu","doi":"10.1109/ARSO.2018.8625792","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625792","url":null,"abstract":"The need for more robust and trustworthy systems to fight wildfires stems from an annual economic burden exceeding $63.5 billion within the United States, elaborated in [1]. Current uses of unmanned aerial vehicles (UAVs) in such a pursuit typically provide “eyes in the sky”, and these vehicles may one day be capable of fighting such fires on their own, as observed in the small-scale test case of [2]. From such, a fleet of automated UAVs could potentially combat wildfires faster and more efficiently than a team made of only human operators while greatly reducing the danger to human life and property. Furthermore, such an approach could help increase public trust in advanced robotics in ways that directly impact people’s lives. Creating a system to achieve this task requires advancements in both the physical hardware and the AI software to control such a fleet. Our work explores the latter through the use of high-level controllers formed by formal methods, specifically reactive synthesis.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127578227","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}
Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625817
Mengshi Zhang, Jian Huang, Fei Chen
This paper deals with the design and verification of a nonlinear control algorithm for the Mobile Wheeled Inverted Pendulum (MWIP) systems. The algorithm is based on the second-order sliding mode control known as Super-Twisting Algorithm (STA) which is able to eliminate the “chattering” phenomenon and ensure robustness with respect to bounded disturbances. The stability of the closed-loop system can be guaranteed according to Lyapunov theorem. In order to show the effectiveness of the proposed controller, a simulation was carried out to make the basic MWIP model move at a constant speed. Additional simulation-testings considering model uncertainties and external disturbances were also provided to verify the effectiveness and robustness of the STA. Comparisons with the Sliding Mode Control (SMC) were given to demonstrate the superiorities of the STA and the results show the favorable performance of the proposed controller in terms of chattering elimination and robustness.
{"title":"Super twisting control algorithm for Velocity Control of Mobile Wheeled Inverted Pendulum Systems","authors":"Mengshi Zhang, Jian Huang, Fei Chen","doi":"10.1109/ARSO.2018.8625817","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625817","url":null,"abstract":"This paper deals with the design and verification of a nonlinear control algorithm for the Mobile Wheeled Inverted Pendulum (MWIP) systems. The algorithm is based on the second-order sliding mode control known as Super-Twisting Algorithm (STA) which is able to eliminate the “chattering” phenomenon and ensure robustness with respect to bounded disturbances. The stability of the closed-loop system can be guaranteed according to Lyapunov theorem. In order to show the effectiveness of the proposed controller, a simulation was carried out to make the basic MWIP model move at a constant speed. Additional simulation-testings considering model uncertainties and external disturbances were also provided to verify the effectiveness and robustness of the STA. Comparisons with the Sliding Mode Control (SMC) were given to demonstrate the superiorities of the STA and the results show the favorable performance of the proposed controller in terms of chattering elimination and robustness.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"2849 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127446367","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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