Pub Date : 2018-09-01DOI: 10.1109/ARSO.2018.8625824
Mélanie Jouaiti, P. Hénaff
Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.
{"title":"CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions","authors":"Mélanie Jouaiti, P. Hénaff","doi":"10.1109/ARSO.2018.8625824","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625824","url":null,"abstract":"Synchronization is an indissociable part of social interactions between humans, especially in gestural communication. With the emergence of social robotics and assistance robots, it becomes paramount for robots to be socially accepted and for humans to be able to connect with them. As a consequence, synchronization mechanisms should be inherent to any robot controllers, allowing the adaption to the interacting partner in any rhythmic way necessary. In this paper, plastic Central Pattern Generators (CPG) have been implemented in the joints of the robot Pepper that has to learn to wave back at a human partner. Results show that the CPG-based controller leads to adaptive waving synchronized with the human partner, thus proving that the CPG-based controller can achieve synchronization.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1132 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":"129480789","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.2018.8625839
Enrique Coronado, F. Mastrogiovanni, G. Venture
The expected adoption of robots able to interact with people in real-world scenarios brings the need to move from easy-to-use to easy-to-develop robot architectures. In this paper, we discuss how a component-based methodology, a block and web-based interface, and a behavior tree approach to the development of robot behaviors can be used together to enable the adoption of the end-user development (EUD) paradigm. The proposed framework (i) mainly uses easy-to-install, cross-platform and modular tools, (ii) is ROS, ZeroMQ and nanomsg compatible, (iii) enables the creation of platform-independent applications, and (iv) can be easily expanded with new sensory devices or robots. In order to evaluate the proposed software framework, an example of a human-robot interaction application using a NAO robot is presented and discussed.
{"title":"Development of Intelligent Behaviors for Social Robots via User-Friendly and Modular Programming Tools","authors":"Enrique Coronado, F. Mastrogiovanni, G. Venture","doi":"10.1109/ARSO.2018.8625839","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625839","url":null,"abstract":"The expected adoption of robots able to interact with people in real-world scenarios brings the need to move from easy-to-use to easy-to-develop robot architectures. In this paper, we discuss how a component-based methodology, a block and web-based interface, and a behavior tree approach to the development of robot behaviors can be used together to enable the adoption of the end-user development (EUD) paradigm. The proposed framework (i) mainly uses easy-to-install, cross-platform and modular tools, (ii) is ROS, ZeroMQ and nanomsg compatible, (iii) enables the creation of platform-independent applications, and (iv) can be easily expanded with new sensory devices or robots. In order to evaluate the proposed software framework, an example of a human-robot interaction application using a NAO robot is presented and discussed.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"32 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":"116915648","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.2018.8625721
Nils Backhaus, P. H. Rosen, Andrea Scheidig, H. Groß, S. Wischniewski
Most humans expect robots to function autonomously and properly. Yet, even reliable robots need human help every now and then and must “ask” for assistance. This paper presents the development of an interaction framework for designing robots requesting help from time to time performing their original task. Based on a broad literature review, basic principles for help requests in human-human interaction (HHI) and human-robot interaction (HRI) are used to design a checklist. Starting from this checklist, the examples of two robots (service vs. industrial) are used to demonstrate the framework principles. At last we discuss the usefulness of this checklist and reflect the critical impact of implicit contradictions between its principles and of technological evolutions like artificial intelligence (AI).
{"title":"Somebody help me, please?!” Interaction Design Framework for Needy Mobile Service Robots*","authors":"Nils Backhaus, P. H. Rosen, Andrea Scheidig, H. Groß, S. Wischniewski","doi":"10.1109/ARSO.2018.8625721","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625721","url":null,"abstract":"Most humans expect robots to function autonomously and properly. Yet, even reliable robots need human help every now and then and must “ask” for assistance. This paper presents the development of an interaction framework for designing robots requesting help from time to time performing their original task. Based on a broad literature review, basic principles for help requests in human-human interaction (HHI) and human-robot interaction (HRI) are used to design a checklist. Starting from this checklist, the examples of two robots (service vs. industrial) are used to demonstrate the framework principles. At last we discuss the usefulness of this checklist and reflect the critical impact of implicit contradictions between its principles and of technological evolutions like artificial intelligence (AI).","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"79 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":"124105990","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.2018.8625717
T. Nomura, Kazuki Otsubo, T. Kanda
To clarify whether humans can extend moral care and consideration to robotic entities, a psychological experiment was conducted for twenty-five undergraduate and graduate students in Japan. The experiment consisted of two conditions on a robot’s behavior: relational and non-relational. In the experiment participants interacted with the robot and then they were told that the robot was disposed. It was found that 1) the participants having higher expectation of rapport with the robot showed more moral expansiveness for the robot measured as degrees of reasoning about the robot as having mental states, a social other, and a moral other, in comparison with those having lower expectation, and 2) in the group of the participants having lower expectation of rapport with the robot, those facing to the robot with relational behaviors showed more degrees of reasoning about the robot as a social other in comparison with those facing the robot without these behaviors.
{"title":"Preliminary Investigation of Moral Expansiveness for Robots","authors":"T. Nomura, Kazuki Otsubo, T. Kanda","doi":"10.1109/ARSO.2018.8625717","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625717","url":null,"abstract":"To clarify whether humans can extend moral care and consideration to robotic entities, a psychological experiment was conducted for twenty-five undergraduate and graduate students in Japan. The experiment consisted of two conditions on a robot’s behavior: relational and non-relational. In the experiment participants interacted with the robot and then they were told that the robot was disposed. It was found that 1) the participants having higher expectation of rapport with the robot showed more moral expansiveness for the robot measured as degrees of reasoning about the robot as having mental states, a social other, and a moral other, in comparison with those having lower expectation, and 2) in the group of the participants having lower expectation of rapport with the robot, those facing to the robot with relational behaviors showed more degrees of reasoning about the robot as a social other in comparison with those facing the robot without these behaviors.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"102 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":"128983880","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.2018.8625784
Alessandro Antonucci, D. Fontanelli
Service robots are increasingly applied in real life environments populated with human beings. In such a challenging scenario, the autonomous robots have to avoid collision in a “natural” way, that is to execute trajectories that a human would follow. This challenging goal can be efficiently tackled if a sufficiently descriptive human motion model is available, in order to predict future pedestrian behaviour and hence safely planning the correct route. In this paper, we move a first step towards a motion model that is able to describe to a certain extent the nonverbal negotiation of spaces in shared environments, still preserving its simplicity for ease of computation. The avoidance task is shared among the robot and the pedestrians and thus human-like trajectories can be generated. Simulations and application to actual pedestrian data are presented to validate the model.
{"title":"Towards a Predictive Behavioural Model for Service Robots in Shared Environments","authors":"Alessandro Antonucci, D. Fontanelli","doi":"10.1109/ARSO.2018.8625784","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625784","url":null,"abstract":"Service robots are increasingly applied in real life environments populated with human beings. In such a challenging scenario, the autonomous robots have to avoid collision in a “natural” way, that is to execute trajectories that a human would follow. This challenging goal can be efficiently tackled if a sufficiently descriptive human motion model is available, in order to predict future pedestrian behaviour and hence safely planning the correct route. In this paper, we move a first step towards a motion model that is able to describe to a certain extent the nonverbal negotiation of spaces in shared environments, still preserving its simplicity for ease of computation. The avoidance task is shared among the robot and the pedestrians and thus human-like trajectories can be generated. Simulations and application to actual pedestrian data are presented to validate the model.","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":"124900668","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.2018.8625740
Roberto Menicatti, C. Recchiuto, Barbara Bruno, R. Zaccaria, A. Khaliq, Uwe Köckemann, F. Pecora, A. Saffiotti, Ha-Duong Bui, N. Chong, Yuto Lim, Van Cu Pham, Nguyen Tan Viet Tuyen, N. Melo, Jaeryoung Lee, Maxime Busy, Edouard Lagrue, Jean-Marc Montanier, A. Pandey, A. Sgorbissa
In many cases, complex multidisciplinary research projects may show a lack of coordinated development and integration, and a big effort is often required in the final phase of the projects in order to merge software developed by heterogeneous research groups. This is particularly true in advanced robotic projects: the objective here is to deliver a system that integrates all the hardware and software components, is capable of autonomous behaviour, and needs to be deployed in real-world scenarios toward providing an impact on future research and, ultimately, on society. On the other hand, in recent years there has been a growing interest for techniques related to software integration, but these have been mostly applied to the IT commercial domain.This paper presents the work performed in the context of the project CARESSES, a multidisciplinary research project focusing on socially assistive robotics that involves 9 partners from the EU and Japan. Given the complexity of the project, a huge importance has been placed on software integration, task planning and architecture definition since the first stages of the work: to this aim, some of the practices commonly used in the commercial domain for software integration, such as merging software from the early stage, have been applied. As a case study, the document describes the steps which have been followed in the first year of the project discussing strengths and weaknesses of this approach.
{"title":"Collaborative Development Within a Social Robotic, Multi-Disciplinary Effort: the CARESSES Case Study","authors":"Roberto Menicatti, C. Recchiuto, Barbara Bruno, R. Zaccaria, A. Khaliq, Uwe Köckemann, F. Pecora, A. Saffiotti, Ha-Duong Bui, N. Chong, Yuto Lim, Van Cu Pham, Nguyen Tan Viet Tuyen, N. Melo, Jaeryoung Lee, Maxime Busy, Edouard Lagrue, Jean-Marc Montanier, A. Pandey, A. Sgorbissa","doi":"10.1109/ARSO.2018.8625740","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625740","url":null,"abstract":"In many cases, complex multidisciplinary research projects may show a lack of coordinated development and integration, and a big effort is often required in the final phase of the projects in order to merge software developed by heterogeneous research groups. This is particularly true in advanced robotic projects: the objective here is to deliver a system that integrates all the hardware and software components, is capable of autonomous behaviour, and needs to be deployed in real-world scenarios toward providing an impact on future research and, ultimately, on society. On the other hand, in recent years there has been a growing interest for techniques related to software integration, but these have been mostly applied to the IT commercial domain.This paper presents the work performed in the context of the project CARESSES, a multidisciplinary research project focusing on socially assistive robotics that involves 9 partners from the EU and Japan. Given the complexity of the project, a huge importance has been placed on software integration, task planning and architecture definition since the first stages of the work: to this aim, some of the practices commonly used in the commercial domain for software integration, such as merging software from the early stage, have been applied. As a case study, the document describes the steps which have been followed in the first year of the project discussing strengths and weaknesses of this approach.","PeriodicalId":441318,"journal":{"name":"2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"13 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":"129201475","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 : 2018-03-26DOI: 10.1109/ARSO.2018.8625758
Matthew Rueben, A. M. Aroyo, C. Lutz, Johannes Schmölz, P. V. Cleynenbreugel, Andrea Corti, Siddharth Agrawal, W. Smart
Privacy is crucial for healthy relationships, but robots will impact our privacy in new ways—this warrants a new area of research. This paper presents work from the first workshop on privacy-sensitive robotics. We identify the seven research themes that should comprise privacy-sensitive robotics research in the near future: data privacy; manipulation and deception; trust; blame and transparency; legal issues; domains with special privacy concerns; and privacy theory. We intend for the research directions proposed for each of these themes to serve as a roadmap for privacy-sensitive robotics research.
{"title":"Themes and Research Directions in Privacy-Sensitive Robotics","authors":"Matthew Rueben, A. M. Aroyo, C. Lutz, Johannes Schmölz, P. V. Cleynenbreugel, Andrea Corti, Siddharth Agrawal, W. Smart","doi":"10.1109/ARSO.2018.8625758","DOIUrl":"https://doi.org/10.1109/ARSO.2018.8625758","url":null,"abstract":"Privacy is crucial for healthy relationships, but robots will impact our privacy in new ways—this warrants a new area of research. This paper presents work from the first workshop on privacy-sensitive robotics. We identify the seven research themes that should comprise privacy-sensitive robotics research in the near future: data privacy; manipulation and deception; trust; blame and transparency; legal issues; domains with special privacy concerns; and privacy theory. We intend for the research directions proposed for each of these themes to serve as a roadmap for privacy-sensitive robotics 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":"2018-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129067589","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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