Alle Publikationen
- <<
- <
- 1
2017
-
(2017) : Socially-aware navigation planner using models of human-human interaction: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Lisbon, Portugal: IEEE Robotics & Automation Society, S. 405-410
DOI: https://doi.org/10.1109/ROMAN.2017.8172334 Abstract: In this paper, we revisit a real-time socially-aware navigation planner which helps a mobile robot to navigate alongside humans in a socially acceptable manner. This navigation planner is a modification of nav core package of Robot Operating System (ROS), based upon earlier work and further modified to use only egocentric sensors. The planner can be utilized to provide safe as well as socially appropriate robot navigation. Primitive features including interpersonal distance between the robot and an interaction partner and features of the environment (such as hallways detected in real-time) are used to reason about the current state of an interaction. Gaussian Mixture Models (GMM) are trained over these features from human-human interaction demonstrations of various interaction scenarios. This model is both used to discriminate different human actions related to their navigation behavior and to help in the trajectory selection process to provide a social-appropriateness score for a potential trajectory. This paper presents an evaluation done in simulation while utilizing data from real human interactions.
Keywords: Angemessen(heit) (von Technik), egocentric sensors, Feature extraction, Gaussian Mixture Models, Gaussian processes, human actions, human interactions, human-human interaction demonstrations, human-robot interaction, Humans, ieee xplore, interaction partner, interaction scenarios, mixture models, mobile robot, Mobile robots, nav core package, Navigation, navigation behavior, path planning, primitive features, Real-time systems, Robot Operating System, Robot sensing systems, service robot, social-appropriateness score, socially acceptable manner, socially appropriate robot navigation, socially-aware navigation planner, Trajectory 2008
-
(2008) : Are bigger robots scary? —The relationship between robot size and psychological threat—: 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Xian, China: IEEE, S. 546-551
DOI: https://doi.org/10.1109/AIM.2008.4601719 Abstract: Human symbiosis service robots of various sizes have already been developed. However, few quantitative investigations have been made concerning the influence of the size of a robot on a userpsilas impression. We focused on the height of a robot (robot size), investigating the effect of robot size on the anxiety or threat felt by a human to be caused by a robot and the appropriate human-robot distance. We prepared three mobile robots that were 0.6 m, 1.2 m and 1.8 m tall. One of these robots approached a male subject from a distance of 3 m, at a maximum speed of 0.4 m/s, and the subject stopped the robot using a switch when he began to feel anxious. We measured the distance between the human and the robot when the subject stopped the robot. Then, we asked the subject to complete a questionnaire to evaluate differences in anxiety levels caused by robots of different sizes. As a result of the experiment based on 19 subjects, we were able to observe a tendency for the human-robot distance to increase along with the size of the robot. From the questionnaires, we found that the subjects felt most anxious with the 1.8-m-tall robots, but that some subjects also experienced anxiety with the 0.6-m-tall robots. Considering both the experimental results and the questionnaires, we conclude that 1.2 m is better than other two sizes.
- <<
- <
- 1