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A crucial skill for fluent action meshing in human team activity is a learned and calculated selection of anticipatory actions. We believe that the same holds for robotic team-mates, if they are to perform in a similarly fluent manner with their human counterparts.
Human control of multiple robots has been characterized by the average demand of single robots on human attention or the distribution of demands from multiple robots. When robots are allowed to cooperate autonomously, however, demands on the operator should be reduced by the amount previously required to coordinate their actions. The present experiment compares control of small robot teams in which...
We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot's movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following...
It is often desirable for a human to manage multiple robots. Autonomy is required to keep workload within tolerable ranges, and dynamically adapting the type of autonomy may be useful for responding to environment and workload changes. We identify two management styles for managing multiple robots and present results from four experiments that have relevance to dynamic autonomy within these two management...
Efforts are underway to make it possible for a single operator to effectively control multiple robots. In these high workload situations, many questions arise including how many robots should be in the team (Fan-out), what level of autonomy should the robots have, and when should this level of autonomy change (i.e., dynamic autonomy). We propose that a set of metric classes should be identified that...
A formal interaction modeling technique known as Goals, Operators, Methods, and Selection rules (GOMS) is well-established in human-computer interaction as a cost-effective way of evaluating designs without the participation of end users. This paper explores the use of GOMS for evaluating human-robot interaction. We provide a case study in the urban search-and-rescue domain and raise issues for developing...
Effective human/robot interfaces which mimic how humans interact with one another could ultimately lead to robots being accepted in a wider domain of applications. We present a framework for interactive task training of a mobile robot where the robot learns how to do various tasks while observing a human. In addition to observation, the robot listens to the human's speech and interprets the speech...
Learning by demonstration can be a powerful and natural tool for developing robot control policies. That is, instead of tedious hand-coding, a robot may learn a control policy by interacting with a teacher. In this work we present an algorithm for learning by demonstration in which the teacher operates in two phases. The teacher first demonstrates the task to the learner. The teacher next critiques...
Intelligent planning algorithms such as the Partially Observable Markov Decision Process (POMDP) have succeeded in dialog management applications [10, 11, 12] because they are robust to the inherent uncertainty of human interaction. Like all dialog planning systems, however, POMDPs require an accurate model of the user (e.g., what the user might say or want). POMDPs are generally specified using a...
Creating a human-robot interface is a daunting experience. Capabilities and functionalities of the interface are dependent on the robustness of many different sensor and input modalities. For example, object recognition poses problems for state-of-the-art vision systems. Speech recognition in noisy environments remains problematic for acoustic systems. Natural language understanding and dialog are...
Robots are being introduced in our society but their social status is still unclear. A critical issue is if the robot's exhibition of intelligent life-like behavior leads to the users' perception of animacy. The ultimate test for the life-likeness of a robot is to kill it. We therefore conducted an experiment in which the robot's intelligence and the participants' gender were the independent variables...
This paper describes a robotic system that uses dance as a form of social interaction to explore the properties and importance of rhythmic movement in general social interaction. The system consists of a small creature-like robot whose movement is controlled by a rhythm-based software system. Environmental rhythms can be extracted from auditory or visual sensory stimuli, and the robot synchronizes...
We present new developments in the improvisational robotic percussionist project, aimed at improving human-robot interaction through design, mechanics, and perceptual modeling. Our robot, named Haile, listens to live human players, analyzes perceptual aspects in their playing in real-time, and uses the product of this analysis to play along in a collaborative and improvisatory manner. It is designed...
Increasingly researchers are looking outside of normal communication channels (such as video and audio) to provide additional forms of communication or interaction between a human and a robot, or a robot and its environment. Amongst the new channels being investigated is the detection of touch using infrared, proprioceptive and temperature sensors. Our work aims at developing a system that can detect...
Effective communication with a mobile robot using speech is a difficult problem even when you can control the auditory scene. Robot ego-noise, echoes, and human interference are all common sources of decreased intelligibility. In real-world environments, however, these common problems are supplemented with many different types of background noise sources. For instance, military scenarios might be...
This paper describes a group attention control (GAC) system that enables a communication robot to simultaneously interact with many people. GAC is based on controlling social situations and indicating explicit control to unify all purposes of attention. We implemented a semi-autonomous GAC system into a communication robot that guides visitors to exhibits in a science museum and engages in free-play...
Robots that work with people foster social relationships between people and systems. The home is an interesting place to study the adoption and use of these systems. The home provides challenges from both technical and interaction perspectives. In addition, the home is a seat for many specialized human behaviors and needs, and has a long history of what is collected and used to functionally, aesthetically,...
This paper reports a method that uses humanoid robots as a communication medium. There are many interactive robots under development, but due to their limited perception, their interactivity is still far poorer than that of humans. Our approach in this paper is to limit robots' purpose to a non-interactive medium and to look for a way to attract people's interest in the information that robots convey...
HRI researchers interested in social robots have made large investments in humanoid robots. There is still sparse evidence that peoples' responses to robots differ from their responses to computer agents, suggesting that agent studies might serve to test HRI hypotheses. To help us understand the difference between people's social interactions with an agent and a robot, we experimentally compared people's...
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