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2017
Sebastian, M.; Banisetty, S. B.; Feil-Seifer, D. (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
2014
Srinivasan, V.; Bethel, C. L.; Murphy, R. R. (2014): Evaluation of Head Gaze Loosely Synchronized With Real-Time Synthetic Speech for Social Robots. In: IEEE Transactions on Human-Machine Systems 44 (6), S. 767-778. DOI: 10.1109/THMS.2014.2342035

DOI: https://doi.org/10.1109/THMS.2014.2342035

Abstract: This study demonstrates that robots can achieve socially acceptable interactions using loosely synchronized head gaze-speech acts. Prior approaches use tightly synchronized head gaze-speech, which requires significant human effort and time to manually annotate synchronization events in advance, restricts interactive dialog, or requires that the operator acts as a puppeteer. This paper describes how autonomous synchronization of head gaze can be achieved by exploiting affordances in the sentence structure and time delays. A 93-participant user study was conducted in a simulated disaster site. The rescue robot “Survivor Buddy” generated head gaze for a victim management scenario using a 911 dialog. The study used pre- and postinteraction questionnaires to compare the social acceptance level of loosely synchronized head gaze-speech against tightly synchronized head gaze-speech (manual annotation) and no head gaze-speech conditions. The results indicated that for attributes of Self-Assessment Manikin, i.e., Arousal, Robot Likeability, Human-Like Behavior, Understanding Robot Behavior, Gaze-Speech Synchronization, Looking at Objects at Appropriate Times, and Natural Movement, the loosely synchronized head gaze-speech is similar to tightly synchronized head gaze-speech and preferred to the no head gaze-speech case. This study contributes to a fundamental understanding of the role of social head gaze in social acceptance for human-machine interaction, how social gaze can be produced, and promotes practical implementation in social robots.

Keywords: Angemessen(heit) (von Technik), Autonomous generation, autonomous head gaze synchronization, Evaluation, human robot interactions, Human-Machine Interaction, human-robot interaction, Human–robot interaction, ieee xplore, interactive conversation, interactive systems, loosely synchronized head gaze-speech acts, real-time synthetic speech, Real-time systems, rescue robots, Robot kinematics, self-assessment manikin, social head gaze, social robots, speech, Survivor Buddy rescue robot, synchronisation, Synchronization, tightly synchronized head gaze-speech, User study, victim management scenario

2017

2014

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