Alle Publikationen
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2018
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(2018): Collaborative Assembly in Hybrid Manufacturing Cells: An Integrated Framework for Human–Robot Interaction. In: IEEE Transactions on Automation Science and Engineering 15 (3), S. 1178-1192. DOI: 10.1109/TASE.2017.2748386
DOI: https://doi.org/10.1109/TASE.2017.2748386 Abstract: Recent emergence of safe, lightweight, and flexible robots has opened a new realm for human-robot collaboration in manufacturing. Utilizing such robots with the new human-robot interaction (HRI) functionality to interact closely and effectively with a human co-worker, we propose a novel framework for integrating HRI factors (both physical and social interactions) into the robot motion controller for human-robot collaborative assembly tasks in a manufacturing hybrid cell. To meet human physical demands in such assembly tasks, an optimal control problem is formulated for physical HRI (pHRI)-based robot motion control to keep pace with human motion progress. We further augment social HRI (sHRI) into the framework by considering a computational model of the human worker's trust in his/her robot partner as well as robot facial expressions. The human worker's trust in robot is computed and used as a metric for path selection as well as a constraint in the optimal control problem. Robot facial expression is displayed for providing additional visual feedbacks to the human worker. We evaluate the proposed framework by designing a robotic experimental testbed and conducting a comprehensive study with a human-in-the-loop. Results of this paper show that compared to the manual adjustments of robot velocity, an autonomous controller based on pHRI, pHRI and sHRI with trust, or pHRI and sHRI with trust, and emotion result in 34%, 39%, and 44% decrease in human workload and 21%, 32%, and 60% increase in robot's usability, respectively. Compared to the manual framework, human trust in robot increases by 38% and 42%, respectively, in the latter two autonomous frameworks. Moreover, the overall efficiency in terms of assembly time remains the same.
2017
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(2017) : A study on the social acceptance of a robot in a multi-human interaction using an F-formation based motion model: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Vancouver, British Columbia, Canada: IEEE, S. 2766-2771
DOI: https://doi.org/10.1109/IROS.2017.8206105 Abstract: As robots participate in human’s daily activities more and more frequently, mobility performance has become one of the main factors determining how robots will share an environment with humans harmoniously in the near future. Among several different kinds of mobile platforms, using omnidirectional configurations is gradually becoming a trend in the robotics community; however, few researchers have addressed the impact of omnidirectional mobility from the perspective of human-robot interaction (HRI). In this paper, we have proposed a socializing model for the robot while participating in an interaction with a group of human peers to achieve its socially optimal position. From a theoretic perspective, we first identify the most prominent features required for social acceptance of robots interacting with multiple humans, backing our arguments with relevant sociological theory. To validate our results, we have conducted experiments where human participants were invited to interact with a robot, which can be constrained to perform either holonomic or nonholonomic motions only. Then, through an observer survey, we testify the appropriateness of utilizing omnidirectional mobility and verify the promotion of social acceptance using the aforementioned features, which is a goal that both the HRI and robotics communities aim to achieve.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, F-formation based motion model, human-robot interaction, ieee xplore, Kinematics, Legged locomotion, mobile platforms, Mobile robots, mobility performance, multihuman interaction, Navigation, omnidirectional configurations, omnidirectional mobility, robotics community, service robot, Social Acceptance, socializing model 2016
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(2016) : Mobile robot navigation for human-robot social interaction: 2016 16th International Conference on Control, Automation and Systems (ICCAS): Gyeongju, Korea: IEEE, S. 1298-1303
DOI: https://doi.org/10.1109/ICCAS.2016.7832481 Abstract: Human social interactions are believed to be described by a mathematical model called the Social Force Model (SFM). A variety of mobile robot research has often used the SFM to generate an appropriate navigation behavior. However, to create a mobile robot that moves around in a human-populated environment in a socially acceptable way, it should be stressed that the social conventions are strictly obeyed. This paper proposes an extended SFM between humans and robots, called the Social Relationship Model (SRM), to enable mobile robots to generate navigation paths in a human-like manner. Simulation results show notable advantages of SRM over the Transition based Rapidly Random Tree (T-RRT) path planning algorithm. The proposed method ensures a socially acceptable robot path, one of the most important issues for human-robot symbiosis.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Force, human-populated environment, human-robot interaction, human-robot social interaction, Human-Robot Symbiosis, ieee xplore, Mathematical model, mobile robot navigation, Mobile robots, Navigation, path planning, service robot, SFM, social force model, social relationship model, SRM, Symbiosis, transition based rapidly random tree, trees (mathematics), T-RRT path planning algorithm 2015
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(2015) : Of Robots, Humans, Bodies and Intelligence: Body Languages for Human Robot Interaction: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery
Abstract: Modern approaches to the design of robots with increasing amounts of embodied intelligence affect human-robot interaction paradigms. The physical structure of robots is evolving from traditional rigid, heavy industrial machines into soft bodies exhibiting new levels of versatility, adaptability, safety, elasticity, dynamism and energy efficiency. New challenges and opportunities arise for the control of soft robots: for instance, carefully planning for collision avoidance may no longer be a dominating concern, being on the contrary physical interaction with the environment not only allowed, but even desirable to solve complex tasks. To address these challenges, it is often useful to look at how humans use their own bodies in similar tasks, and even in some cases have a direct dialogue between the natural and artificial counterparts. ACM Classification B.0 General.
Keywords: body languages, Body-Robot Interaction, Collision avoidance, contrary physical interaction, Dexterous Manipulation, embodied intelligence, Grasp Control, human-robot interaction, ieee xplore, Impedance Control, Künstliche Intelligenz, Physical Human-Robot Interaction, physical structure, safety, service robot, soft bodies, Soft robotics, soft robots, Task Analysis -
(2015) : Towards morally sensitive action selection for autonomous social robots: 2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Kobe, Japan: IEEE Robotics & Automation Society, S. 492-497
DOI: https://doi.org/10.1109/ROMAN.2015.7333661 Abstract: Autonomous social robots embedded in human societies have to be sensitive to human social interactions and thus to moral norms and principles guiding these interactions. Actions that violate norms can lead to the violator being blamed. Robots thus need to be able to anticipate possible norm violations and attempt to prevent them while they execute actions. If norm violations cannot be prevented (e.g., in a moral dilemma situation in which every action leads to a norm violation), then the robot needs to be able to justify the action to address any potential blame. In this paper, we present a first attempt at an action execution system for social robots that can (a) detect (some) norm violations, (b) consult an ethical reasoner for guidance on what to do in moral dilemma situations, and (c) it can keep track of execution traces and any resulting states that might have violated norms in order to produce justifications.
Keywords: action execution system, autonomous social robots, Cleaning, Collision avoidance, ethical aspects, ethical reasoner, Ethics, human social interactions, human societies, human-robot interaction, ieee xplore, Mobile robots, Moral & Ethik, moral dilemma situation, morally sensitive action selection, norm violations, Robot sensing systems, social aspects of automation 2014
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(2014) : Socially-appropriate approach paths using human data: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 1037-1042
DOI: https://doi.org/10.1109/ROMAN.2014.6926389 Abstract: For service robots operating in indoor environments, the crucial task of navigation is often complicated by the presence of people. Simply treating humans in the environment as additional (often moving) obstacles can violate the complex set of social rules by which people navigate around each other. In contrast, emulating human behavior and navigating in a socially appropriate manner could positively affect people’s comfort with a robot’s presence and motion. We present a method of generating social paths for a robot to approach a person based on a small amount of human data. We also conducted a study in which a robot approached participants using both these social paths and straight-line, nonsocial paths. We found that both approaches were rated comparably when the robot approached from the participant’s front or side, but the social approach was significantly preferred when the robot came from behind the participant.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Data models, Distance measurement, Human behavior, ieee xplore, Legged locomotion, Magnetic heads, motion control, moving obstacles, Navigation, navigation task, person approach, robot motion, robot presence, service robot, social path, social path generation, social rules, socially-appropriate approach path, straight-line nonsocial path, Torso 2010
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(2010) : Smooth collision avoidance in human-robot coexisting environment: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems: Taipei, Taiwan: IEEE, S. 3887-3892
DOI: https://doi.org/10.1109/IROS.2010.5649673 Abstract: In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian’s behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using a laser range finder and tracks them by a Kalman filter. We apply the social force model to the observed trajectory for a determination whether the pedestrian intends to avoid a collision with the robot or not. The robot selects an appropriate behavior based on the estimation results. We conducted experiments that a robot and a person pass each other. Through the experiments, the usefulness of the proposed method was demonstrated.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Force, human-robot coexisting environment, human-robot interaction, ieee xplore, Kalman filter, Kalman filters, laser range finder, laser ranging, Leg, Mobile robots, pedestrian behavior, Robot kinematics, service robot, smooth collision avoidance, Trajectory
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