Alle Publikationen
2019
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(2019) : Beyond Programming: Can Robots’ Norm-Violating Actions Elicit Mental State Attributions?: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 530-531
DOI: https://doi.org/10.1109/HRI.2019.8673293 Abstract: Social perceivers often view a human agent’s norm-violating behavior as diagnostic of that person’s mental states, while behaviors that conform to norms are viewed as less informative. We developed a series of stimulus videos depicting a DRC-HUBO robot engaging in norm-violating and norm-conforming behaviors. We explored the hypothesis that robots’ norm-violating actions may invite social perceivers to increase their mental state attributions in a similar manner as they do in humans. Surprisingly, we found that norm-conforming behaviors appear to be at least as conducive as norm-violating behaviors, and perhaps even moreso, to mental state attribution to robotic agents.
Keywords: action explanation, actions elicit mental state attributions, agency, Artificial intelligence, behavioural sciences computing, Cognition, control engineering computing, DRC-HUBO, DRC-HUBO robot, human agent norm-violating behavior, Humanoid Robots, human-robot interaction, ieee xplore, Künstliche Intelligenz, Mobile robots, multi-agent systems, norms, PSYCHOLOGY, robot programming, robotic agents, social perceivers, theory of mind, Videos 2018
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(2018) : Dialogue Behavior Control Model for Expressing a Character of Humanoid Robots: 2018 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC): 2018 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC): Hawaii, United States: IEEE, S. 1732-1737
DOI: https://doi.org/10.23919/APSIPA.2018.8659624 Abstract: This paper addresses character expression for humanoid robots that play a social role via spoken dialogue so that the character matches to the given social role such as a lab guide or a counselor. While conventional methods of character expression mostly focused on changing the style of utterance texts, this study focuses on dialogue behavior features that may affect the impression of spoken dialogue. Specifically, we use five dialogue behavior features: utterance amount, backchannel frequency, backchannel variety, filler frequency, and switching pause length (the time until the system responds). We adopt three character traits of extroversion, emotional instability, and politeness for character expression. We then investigate the relationship between the dialogue behavior features and the character traits by conducting subjective evaluations. A statistical analysis of the subjective evaluations shows that the dialogue behavior features except for the backchannel variety are related to either of the character traits. By using the subjective evaluation scores on the relevant traits, we can train models to control the dialogue behavior features of a robot according to the desired character. Another experimental evaluation demonstrates the feasibility of character expression with regard to the traits of extroversion and politeness.
Keywords: Analytical models, character traits, dialogue behavior control model, dialogue behavior features, emotional & politeness, Frequency control, Humanoid Robots, ieee xplore, interactive systems, Mobile robots, paper addresses character expression, PSYCHOLOGY, Social robotic, speech processing, spoken dialogue, Statistical Analysis, Switches, Task Analysis 2017
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(2017) : Turn-taking intention recognition using multimodal cues in social human-robot interaction: 2017 17th International Conference on Control, Automation and Systems (ICCAS): Jeju, Korea: IEEE, S. 1300-1302
DOI: https://doi.org/10.23919/ICCAS.2017.8204407 Abstract: Turn-taking is an essential social skill for human communication. The robot needs to recognize the end of turn for timely response to the user with little delay in human-robot interaction. In this paper, we propose a turn-taking intention recognition system that determine the timing of turn-taking using multimodal cues in social Human-Robot Interaction (sHRI). In order to evaluate the turn-taking intention recognition system, we collect multimodal data set and conducted experiments. To that end, we designed a human-robot interaction scenario including turn-taking and conducted an experiment with 30 participants using the humanoid robot NAO. In experiments, we validate recognition models trained multimodal dataset by machine learning methods.
Keywords: Encoding, essential social skill, Floors, human communication, humanoid robot NAO, Humanoid Robots, human-robot interaction, ieee xplore, Künstliche Intelligenz, learning (artificial intelligence), Lips, machine learning methods, multimodal cues, multimodal dataset, Robots, sHRI, social human-robot interaction, Social robot, speech, timing, Turn-Taking, turn-taking intention recognition system -
(2017) : On how self-body awareness improves autonomy in social robots: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO): Parisian Macao, China: IEEE, S. 1688-1693
DOI: https://doi.org/10.1109/ROBIO.2017.8324661 Abstract: Just as humans show consciousness of their body, social robots, in the way to be truly autonomous need to be aware of their body posture. Feasible gestures, moves and actions depend on the current body posture. The work developed in this paper aims to empirically show how self configuration recognition augments the degree of autonomy of a robot in the context of entertainment robotics. The integration of a classification tree for body posture identification based on data acquired from proprioceptive sensors of a NAO robot allows to interact with the robot in a more flexible and persistent manner. As a result, the robot shows a more sound behavior and greater degree of autonomy. Moreover, even if the body-awareness has been developed for minstrel robots, its application can be generalized to other contexts.
Keywords: body posture identification, current body posture, Decision trees, Entertainment industry, entertainment robotics, Gesture recognition, Humanoid Robots, ieee xplore, Künstliche Intelligenz, Legged locomotion, minstrel robots, NAO robot, Robot kinematics, Robot sensing systems, self configuration recognition, self-body awareness, social robots 2016
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(2016): Roboethics: Sharing Our World with Humanlike Robots. In: IEEE Potentials 35 (1), S. 24-28. DOI: 10.1109/MPOT.2014.2364491
DOI: https://doi.org/10.1109/MPOT.2014.2364491 Abstract: Major debates surround the field of robotics, making the potential development of humanlike robots one of the most controversial facets of modern technology. This is the result of the technology’s young age. A new technology must meet a number of requirements before people will reach an agreement on it; legal, social, and global considerations must be explored before robotics applications will be accepted by society.
Keywords: Artificial intelligence, ethical aspects, Ethics, global considerations, humanlike robots, Humanoid Robots, Humanoids, human-robot interaction, ieee xplore, legal considerations, Moral & Ethik, roboethics, robotics applications, Robots, social considerations, Social factors, Social implications of technology -
(2016) : A neuro-based method for detecting context-dependent erroneous robot action: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids): Cancun, Mexico: IEEE, S. 477-482
DOI: https://doi.org/10.1109/HUMANOIDS.2016.7803318 Abstract: Validating appropriateness and naturalness of human-robot interaction (HRI) is commonly performed by taking subjective measures from human interaction partners, e.g. questionnaire ratings. Although these measures can be of high value for robot designers, they are very sensitive and can be inaccurate and/or biased. In this paper we propose and validate a neuro-based method for objectively validating robot behavior in HRI. We propose to detect from the electronencephalo-gram (EEG) of a human interaction partner, the perception of inappropriate / unexpected / erroneous robot behavior. To validate this method, we conducted an EEG experiment with a simplified HRI protocol in which a humanoid robot displayed context-dependent erroneous behavior from time to time. The EEG data taken from 13 participants revealed biologically plausible error-related potentials (ErrP) whose spatio-temporal distributions match well with related neuroscientific research. We further demonstrate that perceived erroneous robot action can reliably be modeled and detected from human EEG signals with classification accuracies on avg. 69.7±9.1%. These findings confirm principal feasibility of the proposed method and suggest that EEG-based ErrP detection can be used for quantitative evaluation and thus improvement of robot behavior.
Keywords: Angemessen(heit) (von Technik), Computers, context-dependent erroneous behavior, context-dependent erroneous robot action, EEG, Electroencephalography, electronencephalogram, error-related potentials, ErrP, HRI protocol, human interaction partners, Humanoid Robots, human-robot interaction, ieee xplore, Magnetic heads, neuro-based method, neurocontrollers, neuroscientific research, Protocols, robot behavior, robot designers, Robot sensing systems, spatio-temporal distributions -
(2016) : Which robot am I thinking about? The impact of action and appearance on people’s evaluations of a moral robot: 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Christchurch, New Zealand: IEEE Press, S. 125-132
DOI: https://doi.org/10.1109/HRI.2016.7451743 Abstract: In three studies we found further evidence for a previously discovered Human-Robot (HR) asymmetry in moral judgments: that people blame robots more for inaction than action in a moral dilemma but blame humans more for action than inaction in the identical dilemma (where inaction allows four persons to die and action sacrifices one to save the four). Importantly, we found that people’s representation of the “robot” making these moral decisions appears to be one of a mechanical robot. For when we manipulated the pictorial display of a verbally described robot, people showed the HR asymmetry only when making judgments about a mechanical-looking robot, not a humanoid robot. This is the first demonstration that robot appearance affects people’s moral judgments about robots.
Keywords: Anthropomorphism, Artificial intelligence, Context, Ethics, HR asymmetry, Human Factors, Humanoid Robots, human-robot asymmetry, human-robot interaction, ieee xplore, Machine morality, mechanical robot, mechanical-looking robot, Moral & Ethik, moral decisions, Moral judgments, moral psychology, moral robot, pictorial display, PSYCHOLOGY, Rails, Robot Ethics, social aspects of automation, verbally described robot -
(2016) : Who should robots adapt to within a multi-party interaction in a public space?: 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Christchurch, New Zealand: IEEE Press, S. 483-484
DOI: https://doi.org/10.1109/HRI.2016.7451817 Abstract: Robots in public environments are challenged with socially appropriate interactions with previously unseen users: they need to offer appropriate services and shape their interaction style according to the particular individual’s needs and preferences, for example the elderly and children. In addition, interactions in public spaces are not limited to merely two parties, but often involve multi-party situations with changing numbers of participants. The research question of this work is to investigate what rules should a socially competent robot follow in order to adapt to such complex social situations in real-world scenarios.
Keywords: Analysis of Variance, Angemessen(heit) (von Technik), complex social situations, Hospitals, Humanoid Robots, human-robot interaction, ieee xplore, Information exchange, intelligent robots, Legged locomotion, multiparty interaction, Multi-Party Interaction, public environments, public spaces, real-world scenarios, Robot sensing systems, service robot, Social robotic, socially appropriate interactions, socially competent robot, speech, user needs, user preferences -
(2016) : Robot reading human gaze: Why eye tracking is better than head tracking for human-robot collaboration: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, South Korea: IEEE Robotics & Automation Society, S. 5048-5054
DOI: https://doi.org/10.1109/IROS.2016.7759741 Abstract: Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still adopted in many applications today. In this paper we introduce performance improvements to an eye tracking system we previously developed and use it to explore if this approximation is appropriate. More precisely, we compare the impact of the use of eye- or head-based gaze estimation in a human robot interaction experiment with the iCub robot and naïve subjects. We find that the possibility to exploit the richer information carried by eye gaze has a significant impact on the interaction. As a result, our eye tracking system allows for a more efficient human-robot collaboration than a comparable head tracking approach, according to both quantitative measures and subjective evaluation by the human participants.
Keywords: Angemessen(heit) (von Technik), Cameras, communication cues, EYE GAZE, eye tracking system, eye-based gaze estimation, gaze tracking, Head, head orientation, head tracking, head-based gaze estimation, Human robot interaction, Humanoid Robots, human-robot collaboration, human-robot interaction, iCub robot, ieee xplore, Magnetic heads, performance improvements, pose estimation, quantitative measures, robot human gaze reading, Robot kinematics, robot perception, robot proxy, robot vision, Visualization -
(2016) : 13-year-olds approach human-robot interaction like adults: 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob): Cergy-Pontoise/Paris, France: IEEE, S. 138-143
DOI: https://doi.org/10.1109/DEVLRN.2016.7846805 Abstract: Robots are at the evolution stage that will bring them to interact with humans in daily activities. This will lead to a direct contact with all the members of a household. It is important therefore to understand whether a robot behavior designed for adults could fit also the needs of their younger relatives. In particular, in this work we investigate whether the acceptance and basic understanding of robot behaviors changes between the onset of adolescence and adulthood. With a series of video-based tests we address three different aspects of the interaction: a) the a priori expectations of the prospective users on the most appropriate features of an interactive robot; b) their subjective preferences about a humanoid robot verbal and non-verbal behavior in a demonstration task; and c) the quantitative effect of robot gaze and hand motion on the ability of its human partner to understand its goal. The results show a remarkable similarity between teenagers and adults in all the subjective and quantitative metrics considered, suggesting that a robot behavior designed for adults would be probably effective also in the interaction with 13-year-olds. Our findings also underline the high relevance of an appropriate design of robot gaze direction, as both age groups relied substantially on this implicit cue in their understanding of robot goals.
Keywords: adolescence, adulthood, Angemessen(heit) (von Technik), demonstration task, goal anticipation, hand motion, Human voice, Humanoid Robot, Humanoid Robots, human-robot interaction, ieee xplore, implicit communication, interactive robot, motion control, Mouth, Nonverbal behavior, quantitative metrics, robot behavior, robot gaze direction, Robot kinematics, robot motion, Robot sensing systems, Social robotic, subjective metrics, video-based tests, Videos 2015
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(2015) : Perception of Affective Body Movements in HRI across Age Groups: Comparison between Results from Denmark and Japan: 2015 International Conference on Culture and Computing (Culture Computing): Kyoto, Japan: IEEE, S. 25-32
DOI: https://doi.org/10.1109/Culture.and.Computing.2015.14 Abstract: Social robots are envisioned to move into unrestricted environments where they will be interacting with naive users (in terms of their experience as robot operators). Thus, these robots are also envisioned to exploit interaction channels that are natural to humans like speech, gestures, or body movements. A specificity of these interaction channels is that humans do not only convey task-related information but also more subtle information like e.g. Emotions or personal stance through these channels. Thus, to be successful and not accidentally jeopardizing an interaction, robots need to be able to understand these implicit connotations of the signals (often called social signal processing) in order to generate appropriate signals in a given interaction context. One main application area that is envisioned for social robots is related to elder care, but little is known on how seniors will perceive robots and the signals they produce. In this paper we focus on affective connotations of body movements and investigate how the perception of body movements of robots is related to age. Inspired by a study from Japan, we introduce culture as a variable in the experiment and discuss the difficulties of cross-cultural comparisons. The results show that there are certain age-related differences in the perception of affective body movements, but not as strong as in the original study. A follow up experiment puts the affective body movements into context and shows that recognition rates deteriorate for older participants.
Keywords: affective body movement perception, affective body movements, age groups, age-related differences, Angemessen(heit) (von Technik), assisted living, Context, cross-cultural analysis, Cultural differences, culturally aware technology, Denmark, elder care, emotion information, Face, HRI, Human Factors, Human robot interaction, Humanoid Robots, human-robot interaction, ieee xplore, implicit connotation, interaction channels, Japan, Legged locomotion, Observers, personal stance information, robot operators, Robots, service robot, social robots, social signal processing, task-related information, TV, unrestricted environments, Videos 2014
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(2014) : Easy Authoring of Variable Gestural Expressions for a Humanoid Robot In: Sagerer, Gerhard; Imai, Michita; Belpaeme, Tony; Thomaz, Andrea (Hg.): HRI'14: Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction : March 3-6, 2014, Bielefeld, Germany. Unter Mitarbeit von Gerhard Sagerer und Michita Imai: the 2014 ACM/IEEE international conference: Bielefeld, Germany: 3/3/2014 - 3/6/2014. Hri; Association for Computing Machinery; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Society; ACM/IEEE International Conference on Human-Robot Interaction: Piscataway, NJ: IEEE
Abstract: This demonstration on the Nao robot uses the selection of behavior based on a feedback type and an expressivity value to generate and execute appropriate feedback. It aims to ease the authoring process by using variable gestures.
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(2014) : Sympathy expression model for the bystander robot in group communication: 2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM): Puerto Princesa, Philippines: IEEE, S. 1-6
DOI: https://doi.org/10.1109/HNICEM.2014.7016192 Abstract: In this paper, we propose a sympathy expression model for a bystander robot that honors the concept of moral emotion. Therefore, we pay attention to the robot that is in a bystander position, which is unrelated to the communication between participants. We propose a sympathy expression model that lets a bystander robot learn the emotional display of others and enables cooperative expressiveness. This model allows the appropriate expressiveness affecting communication of a robot in the position of a bystander. To test it, we assume the interaction of three robots with the emotion generation model using the neural network. Further, we inspect the movement of this model by using a psychology model. As a result, we confirmed the appropriate actions of this model.
Keywords: bystander robot, control engineering computing, emotion generation model, Ethics, group communication, Humanoid Robots, ieee xplore, Moral & Ethik, moral emotion, neural nets, neural network, Observers, PSYCHOLOGY, psychology model, Robot kinematics, Robot sensing systems, Sympathy, sympathy expression model, Vectors -
(2014) : Acting vs. being moral: The limits of technological moral actors: 2014 IEEE International Symposium on Ethics in Science, Technology and Engineering: Chicago, IL, USA: IEEE, S. 1-4
DOI: https://doi.org/10.1109/ETHICS.2014.6893396 Abstract: An autonomous robot (physical or digital artificial being) may be capable of producing actions that if performed by a human could be considered moral, by mimicking its creators actions or following their programmed instructions, but it cannot be moral. Morality cannot be fully judged by any behavioral test, as the answer to moral questions is less important than the process followed in arriving at the answer (as evidenced by disagreement among ethicists on the correct answer to many such questions based on the individual’s moral style). The distinction between acting and being moral was recently considered for lethal autonomous military robots [1], and in this paper is further clarified in the context of more broad applications. In addition such a distinction has implications for what types of tasks autonomous robots should not be allowed to do, based on what must be moral decisions. Here we draw a distinction between what might be illegal for an agent to do (which relates more to the agreed upon laws of the current political leadership), and what actions are so innately moral decisions that we cannot delegate them to a machine, no matter how advanced it appears.
Keywords: behavioral test, Buildings, Computers, Decision Making, digital artificial being, Educational institutions, Ethics, Humanoid Robots, ieee xplore, lethal autonomous military robots, military systems, Moral & Ethik, moral decisions, Morality, physical being, political leadership, programmed instructions, robot programming, Robot sensing systems, technological moral actors, Weapons 2013
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(2013) : What you do is who you are: The role of task context in perceived social robot personality: 2013 IEEE International Conference on Robotics and Automation: Karlsruhe, Germany: IEEE, S. 2134-2139
DOI: https://doi.org/10.1109/ICRA.2013.6630863 Abstract: People tend to unconsciously attribute personality traits to all kinds of technology including robots. But what personality do they want robots to have? Previous research has found support for two contradicting theories: similarity attraction and complementary attraction. The similarity attraction theory implies that people prefer a robot with a similar personality to their own (e.g., an extroverted person prefers an extroverted robot). According to the complementary attraction theory, people prefer a robot’s personality opposite to their own (e.g., extroverted people prefer an introverted robot). In contrast to both theories, we argue that what is considered an appropriate personality for a robot depends on the task context. In a 2×2 between-groups experiment (N=45), we found trends that indicated similarity attraction for extrovert participants when the robot was a tour guide and complementary attraction for introverted participants when the robot was a cleaner. These trends show that preferences for robot personalities may indeed depend on the context of the robot’s role and the stereotype perceptions people hold for certain jobs. Robot behaviors likely need to be adapted not in complimentary or similarity to the users’ personality but to the users’ expectations about what kind of personality and behaviors are consistent with such a task or role.
Keywords: Angemessen(heit) (von Technik), Artificial intelligence, Atmospheric measurements, Cleaning, complementary attraction theory, Context, Humanoid Robots, ieee xplore, Painting, Particle measurements, robot behavior, Robots, similarity attraction theory, social robot personality, speech, Task context -
(2013) : Bio-inspired solutions for intelligent android perception and control: 2013 IEEE International Symposium on Technology and Society (ISTAS): Social Implications of Wearable Computing and Augmediated Reality in Everyday Life: Toronto, Canada: IEEE
DOI: https://doi.org/10.1109/ISTAS.2013.6613096 Abstract: Summary form only given. After more than half of century of manufacturing-oriented robotics, robots are now evolving and expanding into new applications involving a human-style interaction with people in unstructured environments. Such an endeavour requires a different set of skills for the new generation of robots, which are expected to exhibit an increased ability to intelligently connect perception to action. Due to their expected omnipresence in the lives of people, the new-generation robots should be sensitive to the attitudes and expectations of normal people. They should be endowed with more efficient interaction capabilities allowing for a higher degree of flexibility and autonomy in order to make appropriate decisions in routine and emergency situations. In order to naturally blend within human society, the new-generation robots should not only look as humans, but should also behave as much as possible as humans. They are in a way expected to be, as initially imagined by Capek in his R.U.R. Rossum’s Universal Robots play, anthropomorphic artefacts, androids, enabled to think on their own and governed by Asimov’s laws of robotics hardwired into every robot’s positronic brain. While for a long time, engineers have built upon mathematics, physics and chemistry in order to develop an ever growing variety of industrial artefacts and machines, this approach cannot anymore rise to the challenge of designing these androids. The time has now arrived to add biology and more specifically, human anatomy, physiology and psychology to the scientific sources of knowledge to develop a new, bio-inspired, generation of intelligent androids. Advocating this emergent trend, this presentation will discuss a number of relevant issues such as bioinspired robot sensors and neural networks, humanrobot interaction techniques for symbiotic partnership, as well as moral, ethical, theological, legal, and social challenges in a soon-to-be cyborgsociety world.
Keywords: Androids, anthropomorphic artefacts, Asimov law, bio-inspired materials, bioinspired robot sensors, bio-inspired solutions, Biology, cyborg society world, Educational institutions, human anatomy, human robot interaction techniques, Humanoid Robots, human-style interaction, ieee xplore, industrial artefacts, industrial machines, intelligent android control, intelligent android perception, intelligent robots, interaction capability, Law, manufacturing-oriented robotics, Moral & Ethik, Neural Networks, new-generation robots, omnipresence, physiology, PSYCHOLOGY, robot positronic brain, Robot sensing systems, service robot, symbiotic partnership, universal robots play, unstructured environments -
(2013): Cross-cultural perspectives on emotion expressive humanoid robotic head: Recognition of facial expressions and symbols. In: Int J of Soc Robotics 5 (4), S. 515-527. DOI: 10.1007/s12369-013-0213-z
DOI: https://doi.org/10.1007/s12369-013-0213-z Abstract: Emotion display through facial expressions is an important channel of communication. However, between humans there are differences in the way a meaning to facial cues is assigned, depending on the background culture. This leads to a gap in recognition rates of expressions: this problem is present when displaying a robotic face too, as a robot’s facial expression recognition is often hampered by a cultural divide, and poor scores of recognition rate may lead to poor acceptance and interaction. It would be desirable if robots could switch their output facial configuration flexibly, adapting to different cultural backgrounds. To achieve this, we made a generation system that produces facial expressions and applied it to the 24 degrees of freedom head of the humanoid social robot KOBIAN-R, and thanks to the work of illustrators and cartoonists, the system can generate two versions of the same expression, in order to be easily recognisable by both Japanese and Western subjects. As a tool for making recognition easier, the display of Japanese comic symbols on the robotic face has also been introduced and evaluated. In this work, we conducted a cross-cultural study aimed at assessing this gap in recognition and finding solutions for it. The investigation was extended to Egyptian subjects too, as a sample of another different culture. Results confirmed the differences in recognition rates, the effectiveness of customising expressions, and the usefulness of symbols display, thereby suggesting that this approach might be valuable for robots that in the future will interact in a multicultural environment. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
2012
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(2012) : Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication: Paris, France: IEEE, S. 1115-1120
DOI: https://doi.org/10.1109/ROMAN.2012.6343898 Abstract: There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33.
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(2012) : Children’s adaptation in multi-session interaction with a humanoid robot: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication: Paris, France: IEEE, S. 351-357
DOI: https://doi.org/10.1109/ROMAN.2012.6343778 Abstract: This work presents preliminary observations from a study of children (N=19, age 5-12) interacting in multiple sessions with a humanoid robot in a scenario involving game activities. The main purpose of the study was to see how their perception of the robot, their engagement, and their enjoyment of the robot as a companion evolve across multiple interactions, separated by one-two weeks. However, an interesting phenomenon was observed during the experiment: most of the children soon adapted to the behaviors of the robot, in terms of speech timing, speed and tone, verbal input formulation, nodding, gestures, etc. We describe the experimental setup and the system, and our observations and preliminary analysis results, which open interesting questions for further research.
Keywords: children adaptation, game activities, Game Theory, Games, Gestures, Humanoid Robot, Humanoid Robots, human-robot interaction, Humans, ieee xplore, Künstliche Intelligenz, medical robotics, multisession interaction, nodding, speech, speech timing, speed-and-tone, Syntactics, timing, verbal input formulation -
(2012) : Captain may I? Proxemics study examining factors that influence distance between humanoid robots, children, and adults, during human-robot interaction: 2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Boston, MA: IEEE, S. 203-204
Abstract: This proxemics study examines whether the physical distance between robots and humans differ based on the following factors: 1) age: children vs. adults, 2) who initiates the approach: humans approaching the robot vs. robot approaching humans, 3) prompting: verbal invitation vs. non-verbal gesture (e.g., beckoning), and 4) informing: announcement vs. permission vs. nothing. Results showed that both verbal and non-verbal prompting had significant influence on physical distance. Physiological data is also used to detect the appropriate timing of approach for a more natural and comfortable interaction.
Keywords: Angemessen(heit) (von Technik), Human robot interaction, Humanoid Robots, human-robot interaction, Humans, ieee xplore, image sensors, Measurement, nonverbal gesture, Pediatrics, physiological data, physiology, proxemics study, Robot sensing systems, robot vision, USA Councils, verbal invitation, Young Children 2011
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(2011) : Creation and Evaluation of emotion expression with body movement, sound and eye color for humanoid robots: 2011 RO-MAN: 2011 RO-MAN: Georgia, USA: IEEE, S. 204-209
DOI: https://doi.org/10.1109/ROMAN.2011.6005263 Abstract: The ability to display emotions is a key feature in human communication and also for robots that are expected to interact with humans in social environments. For expressions based on Body Movement and other signals than facial expressions, like Sound, no common grounds have been established so far. Based on psychological research on human expression of emotions and perception of emotional stimuli we created eight different expressional designs for the emotions Anger, Sadness, Fear and Joy, consisting of Body Movements, Sounds and Eye Colors. In a large pre-test we evaluated the recognition ratios for the different expressional designs. In our main experiment we separated the expressional designs into their single cues (Body Movement, Sound, Eye Color) and evaluated their expressivity. The detailed view at the perception of our expressional cues, allowed us to evaluate the appropriateness of the stimuli, check our implementations for flaws and build a basis for systematical revision. Our analysis revealed that almost all Body Movements were appropriate for their target emotion and that some of our Sounds need a revision. Eye Colors could be identified as an unreliable component for emotional expression.
Keywords: Analysis of Variance, Angemessen(heit) (von Technik), anger emotion, Body Movement, Color, emotion expression, eye color, fear emotion, human communication, Humanoid Robots, Humans, ieee xplore, Image color analysis, joy emotion, Manipulators, Mobile robots, Particle measurements, sadness emotion 2010
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(2010) : Secondary action in robot motion: 19th International Symposium in Robot and Human Interactive Communication: Viareggio, Italy: IEEE, S. 310-315
DOI: https://doi.org/10.1109/ROMAN.2010.5598730 Abstract: Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion for robot hardware, which exploit actuation passivity to overcome hardware constraints and change the dynamic perception of the robot and its motion characteristics. Results of secondary motion due to internal and external forces are presented including discussion on how to choose the appropriate technique for a particular application.
2009
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(2009) : An artificial neural network approach for creating an ethical artificial agent: 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA): Daejeon, Korea: IEEE, S. 290-295
DOI: https://doi.org/10.1109/CIRA.2009.5423190 Abstract: Autonomous robotic systems and intelligent artificial agents’ capability have advanced dramatically. Since the intelligent artificial agents have been developing more autonomous and human-like, the capability of them to make moral decisions becomes an important issue. In this work we developed an artificial neutral network which considered various effective factors for ethical assessment of an action to determine that if a behavior or an action is ethically permissible or not. We integrated this net to the BDI-agent model as a part of its reasoning process to behave ethically in various environments.
Keywords: AMA, Artificial ethical agent, Artificial intelligence, artificial neural network, artificial neural network approach, artificial neural networks, autonomous robotic systems, BDI-Agent, BDI-agent model, ethical artificial agent, ethical reasoning, Ethics, Humanoid Robots, Humans, ieee xplore, intelligent agent, intelligent artificial agents, intelligent robots, Intelligent Systems, machine ethics, Mobile robots, Moral & Ethik, multi-agent systems, neurocontrollers, reasoning process, Software agents, Turning 2008
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(2008) : IslEnquirer: Social user model acquisition through network analysis and interactive learning: 2008 IEEE Spoken Language Technology Workshop: Goa, India: IEEE, S. 117-120
DOI: https://doi.org/10.1109/SLT.2008.4777854 Abstract: We present an approach to introduce social awareness in interactive systems. The IslEnquirer is a system which automatically builds social user models. It initializes the models by social network analysis of available offline data. These models are then verified and extended by interactive learning which is carried out by a robot initiated spoken dialog with the user.
Keywords: Automatic speech recognition, Automation, Cognitive robotics, Context modeling, Data Mining, Humanoid Robots, Humans, ieee xplore, Information retrieval, interactive learning, interactive system, interactive systems, IslEnquirer, Künstliche Intelligenz, learning (artificial intelligence), Robot, Robotics, social awareness, social network analysis, Social network services, social networking (online), social networks, social user model acquisition, spoken dialog, spoken dialog system, user modeling, user modelling 2007
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(2007) : Towards Realistic Facial Behaviour in Humanoids - Mapping from Video Footage to a Robot Head: 2007 IEEE 10th International Conference on Rehabilitation Robotics: Piscataway NJ: IEEE, S. 833-840
DOI: https://doi.org/10.1109/ICORR.2007.4428521 Abstract: Rehabilitation robotics and physical therapy could greatly benefit from engaging and motivating, robotic caregivers which respond in accordance to patients’ emotional and social cues. Recent studies indicate that human-machine interactions are more believable and memorable when a physical entity is present, provided that the machine behaves in a realistic manner. It is desirable to adopt face-to-face communication because it is the most natural and efficient way of exchanging information and does not require users to alter their habits. Towards this end, we describe a process for animating a robot head, based on video input of a human head. We map from the 2D coordinates of feature points into the robot’s servo space using Partial Least Squares (PLS). Learning is done using a small set of keyframes manually created by an animator. The method is efficient, robust to tracking errors and independent of the scale of the face being tracked.
Keywords: Animation, Computer animation, Facial animation, human-machine interactions, Humanoid Robots, Humanoids, Humans, ieee xplore, Künstliche Intelligenz, Learning, learning (artificial intelligence), Magnetic heads, Man machine systems, medical robotics, Medical treatment, Orbital robotics, partial least squares, patient rehabilitation, physical therapy, realistic facial behaviour, Rehabilitation robotics, robot head, Robot kinematics, robot servo space, servomechanisms, video footage