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2019
Bremner, Paul; Dennis, Louise A.; Fisher, Michael; Winfield, Alan F. (2019): On Proactive, Transparent, and Verifiable Ethical Reasoning for Robots. In: Proceedings of the IEEE 107 (3), S. 541-561. DOI: 10.1109/JPROC.2019.2898267

DOI: https://doi.org/10.1109/JPROC.2019.2898267

Abstract: Previous work on ethical machine reasoning has largely been theoretical, and where such systems have been implemented, it has, in general, been only initial proofs of principle. Here, we address the question of desirable attributes for such systems to improve their real world utility, and how controllers with these attributes might be implemented. We propose that ethically critical machine reasoning should be proactive, transparent, and verifiable. We describe an architecture where the ethical reasoning is handled by a separate layer, augmenting a typical layered control architecture, ethically moderating the robot actions. It makes use of a simulation-based internal model and supports proactive, transparent, and verifiable ethical reasoning. To do so, the reasoning component of the ethical layer uses our Python-based belief-desire-intention (BDI) implementation. The declarative logic structure of BDI facilitates both transparency, through logging of the reasoning cycle, and formal verification methods. To prove the principles of our approach, we use a case study implementation to experimentally demonstrate its operation. Importantly, it is the first such robot controller where the ethical machine reasoning has been formally verified.

Keywords: BDI implementation, belief desire intention implementation, control engineering computing, Design methodology, ethical machine reasoning, ethical reasoning, Ethics, formal verification, ieee xplore, intelligent robots, layered control architecture, learning (artificial intelligence), machine learning, Moral & Ethik, Predictive models, Python, robot controller, robot programming, Robots, safety, simulation-based internal model, Social implications of technology, software architecture, transparency
2011
Mumm, J.; Mutlu, B. (2011) : Human-robot proxemics: Physical and psychological distancing in human-robot interaction: 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 331-338

DOI: https://doi.org/10.1145/1957656.1957786

Abstract: To seamlessly integrate into the human physical and social environment, robots must display appropriate proxemic behavior-that is, follow societal norms in establishing their physical and psychological distancing with people. Social-scientific theories suggest competing models of human proxemic behavior, but all conclude that individuals’ proxemic behavior is shaped by the proxemic behavior of others and the individual’s psychological closeness to them. The present study explores whether these models can also explain how people physically and psychologically distance themselves from robots and suggest guidelines for future design of proxemic behaviors for robots. In a controlled laboratory experiment, participants interacted with Wakamaru to perform two tasks that examined physical and psychological distancing of the participants. We manipulated the likeability (likeable/dislikeable) and gaze behavior (mutual gaze/averted gaze) of the robot. Our results on physical distancing showed that participants who disliked the robot compensated for the increase in the robot’s gaze by maintaining a greater physical distance from the robot, while participants who liked the robot did not differ in their distancing from the robot across gaze conditions. The results on psychological distancing suggest that those who disliked the robot also disclosed less to the robot. Our results offer guidelines for the design of appropriate proxemic behaviors for robots so as to facilitate effective human-robot interaction.

Keywords: Angemessen(heit) (von Technik), Atmospheric measurements, Computers, disclosure, distancing, Gaze, human proxemic behavior, humanlike robots, human-robot interaction, human-robot proxemics, ieee xplore, individual psychological closeness, Particle measurements, physical distancing, Predictive models, Proxemics, proximity, psychological distancing, PSYCHOLOGY, robot gaze behavior, Robot kinematics, robot likeability, social-scientific theories, societal norms, Wakamaru

2019

2011

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