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Human Performance in Space > L6 - Human-Robot Interaction > Flashcards

L6 - Human-Robot Interaction Flashcards

1
Q

WHAT IS A ROBOT?

A 
Is a machine with some degree of:
Autonomy
Dexterity
Mobility
Perception
Intelligence
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2
Q

DEFINDE THE CHARACTERISTICS OF A ROBOT

A 
Tough
Efficient
Customized for their tasks
Not very smart
Can´t improvise
Don´t get bored
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3
Q

DEFINE THE DESIGN ISSUES FOR A ROBOT

A 
All robots:
Cognition (planning)
Perception (sensing)
Action (moving)
HRI (user interface)
Socially interactive robots need:
Human-oriented perception
Readable social cues
Natural human-robot interaction
Real-time performance
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4
Q

WHAT IS HRI?

A

Is to define a general human model allowing more natural interaction between humans and robots

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5
Q

WHAT IS THE GOAL OF HRI?

A

To develop more efficient, flexible, personal, pleasant HRI: “friendly HRI”

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6
Q

WHAT HRI IS NOT?

A 
Not AI or HCI
Is different because:
	Simple or multiple people interaction
	Multiple people in different roles
	Non-symmetrical relationships H-R
	State of operation can be degraded due to harsh environment
More than tele-operation of robots
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7
Q

LIST THE MAIN ISSUES IN HRI

A

Sensing and perception (real time, unstructured environment)
Mechanisms and actuation (safety, performance)
Planning and control (many degrees of freedom, human-like skills, learning)
Interactivity and human-friendly interaction (untrained users, perception of the environment, the user and the users “intent”)

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8
Q

STATE THE HISTORY OF HRI: THE THREE STAGES FOR ROBOTS

A 
Functionality:
3D duties
Isolated 
Ex: welding robot, Canadarm
Mobility
Unstructured environment
Supporting human life
Ex: nuclear plant, mars rover
Sociability
Co-exist with humans
Satisfy humans´ needs
Ex: walkers, robonaut
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9
Q

LIST SOME OPINIONS TOWARDS SOCIAL ROBOTS

A

40% adults approve robot in home, 90% children
90% household tasks, 10% childcare
Not too much autonomy: Servant role
Human-like communication, appearance and behaviour less important
Movement style important

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10
Q

WHY TO CHOSE SOCIAL ROBOTS INSTEAD OF CLASSICAL ROBOTICS?

A

Sociability problems: HRI, social system design (ethics, law, safety)
Technical problems: Machine learning, knowledge representation, locomotion, pattern recognition

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11
Q

PUT SOME EXAMPLES OF SOCIAL ROBOTS

A 
“Robots as a tool” philosophy
	Bomb squad
	Medical
	Search and rescue
	Mars rovers
Social awareness philosophy
	Entertainment
	Service
	Remote communication
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12
Q

EXPLAIN HEALTHCARE AND ASSISTIVE TECHNOLOGY IN HRI

A 
Aids for the blind
Robotic walkers
Walking assist systems
Robotic wheelchairs
Robotic arm
Haptic exoskeleton
Stroke therapy
Companion robots
Human augmentation
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13
Q

EXPLAIN THE THERAPY ROBOTS FOR AUTISM

A

To improve communication skills

Ethical issue

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14
Q

STATE THE CHARACTERISTICS FOR HUMANOID ROBOTS

A

Tendency to anthropomorphise machines and to treat computer artefacts as more intelligent than they are
Preference to interact with: make eye contact, turn taking during conversation, use humor and emotion, and ask for help
We prefer human-like robots up to a certain point

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15
Q

LIST SOME FACTORS ENCOURAGING HRI

A 
Physical appearance
Movement
Contingency (conversation, eye contact)
Emotional expression
Recognizing and responding to your emotion:
	Speech
	Loudness
	Facial expressions
	Attention
	Gestures
	Body language
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16
Q

WHAT IS EMOTION?

A

Short episode of synchronized system activity triggered by event composed of:
Subjective feelings, physiological arousal, expressions, situation evaluation, tendency to do something
Emotions govern our decisions
Sometimes is difficult to see the difference between humans and robots

17
Q

LIST THE 6 FACIAL EXPRESSIONS

A 
Six facial expressions of emotion (Kismet):
Anger
Happiness
Disgust
Surprise
Sadness
Fear
18
Q

STATE THE PERSONAL SPACES DISTANCES FOR A FRIENDLY HRI

A

Personal spaces: close intimate < 0.15, intimate < 0.45, personal < 1.2, social <3.6, public

19
Q

STATE SOME METHODS FOR PERCEIVING HUMANS

A

Auditory feedback – speech analysis
Visual feedback – 3D vision, colour information, human modelled a priori
Proprioceptive feedback – its own state
Face recognition feedback
Analyse the relative position and shape of eyes, nose… which will search for matching features.
3D sensors to identify distinctive features

20
Q

DEFINE PROPRIOCEPTION

A

The sense of pressure and touch exerted on muscle tendons and skin receptors

21
Q

STATE SOME METHODS FOR MOTION PLANNING

A

Challenge only achieved for 3 to 10 degrees of freedom

Some robots can use potential field method

22
Q

STATE SOME COGNITIVE MODELS

A

Combining vision, speech and proprioception the robot build a 3D model including the human
Data is gathered with regard to user studies
When a robot fails negative feelings are expressed

23
Q

EXPLAIN THE CURRENT RESEARCH IN SPACE ROBOTICS

A 
Orbital robotics
Inspection and maintenance
Manipulation of flexible structures
Form based control algorithm
Coordinated control of space robot teams
Space manipulator analysis
Autonomous spacecraft proximity manoeuvres
Planetary rovers
	Mars rovers
24
Q

EXPLAIN THE CHARACTERISTICS OF ROBONAUT

A 
Torso with arms and 1 leg
Complement astronauts during EVA
Hand very human-like
Can handle tools
Fit in same places
Telepresence control system
Eyes provide depth vision
Haptic feedback under development
Intelligent controllers under development
25
Q

DESCRIBE THE DISADVNTAGES OF VIRTUAL REALITY TELEOPERATIONS

A 
Equipment uncomfortable
Any latency can destroy immersion
Distance perception is underestimated
100% natural interface not practical
Value added by VR often not evaluated
26
Q

STATE THE CHARACTERISTICS OF ROBOTS AND SPACE EXPLORATION

A

Current space robots: autonomous probes, planetary rovers, 100% tele-operated manipulators (canadarm)
Vision for Space Exploration: emphasis on robotic assistants to astronauts and human-robot teams

27
Q

WHAT ARE THE BENEFICTS AND CHALLENGES OF HRI IN SPACE?

A

Planetary exploration system will involve robots and humans
Reduces complexity
Need to design and test in analogues

28
Q

HRI RESEARCH CHALLENGES

A

Lack of models
Human multi-tasking
Human-robot teaming
HRI design principles and analysis techniques
Multi-modal interaction in real environments
Socio-emotive interaction
Social learning

29
Q

MAJOR HRI LABORATORIES

A

US: cognitive science, psychology and user testing
Asia: engineering and humanoid robots (Japan and Korea)
Europe: assistive technologies and challenges as mental models, situation awareness, perception

Human Performance in Space (7 decks)

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