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This paper presents a study on collaborative manipulation between an autonomous robot and multiple users. We investigate how different motion types impact people's ability to understand the robot's goals in a multi-user scenario. We propose an approach based on Collaborative Probabilistic Movement Primitives to generate the robot's movements, exploiting predictability and legibility of movement to...
Human beings naturally assign roles to one another while interacting. Role assignment is a way to organize interpersonal encounters and can result in uncertainty decrease when facing a novel interaction with someone we just met, or even to rediscover new roles within previous relationships. When people interact with synthetic characters - such as robots - it seems they also assign roles to these agents,...
Research in education has long established how children mutually influence and support each other's learning trajectories, eventually leading to the development and widespread use of learning methods based on peer activities. In order to explore children's learning behavior in the presence of a robotic facilitator during a collaborative writing activity, we investigated how they assess their peers...
In this paper, we present an experiment in the context of a child-robot interaction where we study the influence of the child-robot spatial arrangement on the child's focus of attention and the perception of the robot's performance. In the “Co-Writer learning by teaching” activity, the child teaches a Nao robot how to handwrite. Usually only face-to-face spatial arrangements are tested in educational...
Robots are currently being developed to enter our lives and interact with us in different tasks. For humans to be able to have a positive experience of interaction with such robots, they need to trust them to some degree. In this paper, we present the development and evaluation of a social robot that was created to play a card game with humans, playing the role of a partner and opponent. This type...
In recent years, robots have gradually become incorporated in our society and therefore play more relevant role in social environments. These robots vary in form, some being more anthropomorphic than others. This, creates a need to study their interaction with the world. In this paper we used Sphero and BB-8, two robots with a simple spherical body devoid of verbal and other complex communication...
Is a robot that shares explicitly its emotions with users more believable and friendly? In a previous study addressing this question, results suggested that an emotion sharing feature in a robot may have negative effects in the perception of that robot. Here, we address the same question but also take into account the “competence” of a robot executing a task, to understand if some kind of interaction...
Thomas (all children's names have been changed) is five and a half years old and has been diagnosed with visuoconstructive deficits. He is under the care of an occupational therapist and tries to work around his inability to draw letters in a consistent manner. Vincent is six and struggles at school with his poor handwriting and even poorer self-confidence. Whereas Thomas is lively and always quick...
In this video submission, we describe a scenario developed in the EMOTE project. The overall goal of the EMOTE project is to develop an empathic robot tutor for 11–13 year old school students in an educational setting. The pedagogical domain here is to assist students in learning and testing their map-reading skills typically learned as part of the geography curriculum in schools. We show this scenario...
The CoWriter activity involves a child in a rich and complex interaction where he has to teach handwriting to a robot. The robot must convince the child it needs his help and it actually learns from his lessons. To keep the child engaged, the robot must learn at the right rate, not too fast otherwise the kid will have no opportunity for improving his skills and not too slow otherwise he may loose...
Creativity is one of the most important and pervasive of all human abilities. However, it seems to decline during school age years, in a phenomenon entitled “creative crisis”. As developed societies are shifting from an industrialized economy to a creative economy, there is a need to support creative abilities through life. With this work, we aim to use social robots as boosters for creative-driven...
In this paper we propose a methodology for the creation of social interaction strategies for human-robot interaction based on restricted-perception Wizard-of-Oz studies (WoZ). This novel experimental technique involves restricting the wizard's perceptions over the environment and the behaviors it controls according to the robot's inherent perceptual and acting limitations. Within our methodology,...
In this video we present a social robotic player that is able to play a traditional card game in a social manner. The interaction takes place in a rich environment in which two teams of two players each compete to win the card game. Therefore, the robotic game player has a partner, and an opponent team of two other players. During each game, the robot explores both competitiveness with the opponent...
We are excited to welcome you to the Eleventh Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI 2016). The HRI Conference is a highly selective, single track, international meeting showcasing the best research in human-robot interaction, with roots in and broad participation from various communities of scholars, including but not limited to robotics, human-computer interaction,...
This paper discusses the design and implementation of an Empathic Robot Tutor, applied to topics in the school Geography curriculum, and using a multi-touch table. It explains the motivation and objectives, introduces the two application domains, Mapskills and Enercities2, and describes the technology that has been developed. It discusses a study using Mapskills on the impact of embodiment on their...
In this paper we present a collaborative artificial intelligence (AI) module for a turn-based, multiplayer, environmental awareness game. The game is a version of the EnerCities serious game, modified in the context of a European-Union project to support sequential plays of an emphatic robotic tutor interacting with two human players in a social and pedagogical manner. For that purpose, we created...
In order to explore the impact of integrating a robot as a facilitator in a collaborative activity, we examined interpersonal distancing of children both with a human adult and a robot facilitator. Our scenario involves two children performing a collaborative learning activity, which included the writing of a word/letter on a tactile tablet. Based on the learning-by-teaching paradigm, one of the children...
Several agent-based frameworks have been proposed to investigate the possible reasons that lead humans to act in the interest of others while giving up individual gains. In this paper we propose a novel framework for analyzing this phenomenon based on the notions of social importance (SI) and local discrimination. We analyze such mechanism in the context of a “favors game” where a recipient agent...
We present algorithms for inferring the cost function and reference trajectory from human demonstrations of hand-writing tasks. These two key elements are then used, through optimal control, to generate an impedance-based controller for a robotic hand. The key novelty lies in the flexibility of the feature design in the composition of the cost function, in contrast to the traditional approaches that...
In this paper we analyze the impact of simple social signaling mechanisms in the performance of learning agents within competitive multiagent settings. In our framework, self-interested reinforcement learning agents interact and compete with each other for limited resources. The agents can exchange social signals that influence the total amount of reward received throughout time. In a series of experiments,...
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