L6 - Human-Robot Interaction Flashcards
WHAT IS A ROBOT?
Is a machine with some degree of: Autonomy Dexterity Mobility Perception Intelligence
DEFINDE THE CHARACTERISTICS OF A ROBOT
Tough Efficient Customized for their tasks Not very smart Can´t improvise Don´t get bored
DEFINE THE DESIGN ISSUES FOR A ROBOT
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
WHAT IS HRI?
Is to define a general human model allowing more natural interaction between humans and robots
WHAT IS THE GOAL OF HRI?
To develop more efficient, flexible, personal, pleasant HRI: “friendly HRI”
WHAT HRI IS NOT?
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
LIST THE MAIN ISSUES IN HRI
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”)
STATE THE HISTORY OF HRI: THE THREE STAGES FOR ROBOTS
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
LIST SOME OPINIONS TOWARDS SOCIAL ROBOTS
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
WHY TO CHOSE SOCIAL ROBOTS INSTEAD OF CLASSICAL ROBOTICS?
Sociability problems: HRI, social system design (ethics, law, safety)
Technical problems: Machine learning, knowledge representation, locomotion, pattern recognition
PUT SOME EXAMPLES OF SOCIAL ROBOTS
“Robots as a tool” philosophy Bomb squad Medical Search and rescue Mars rovers Social awareness philosophy Entertainment Service Remote communication
EXPLAIN HEALTHCARE AND ASSISTIVE TECHNOLOGY IN HRI
Aids for the blind Robotic walkers Walking assist systems Robotic wheelchairs Robotic arm Haptic exoskeleton Stroke therapy Companion robots Human augmentation
EXPLAIN THE THERAPY ROBOTS FOR AUTISM
To improve communication skills
Ethical issue
STATE THE CHARACTERISTICS FOR HUMANOID ROBOTS
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
LIST SOME FACTORS ENCOURAGING HRI
Physical appearance Movement Contingency (conversation, eye contact) Emotional expression Recognizing and responding to your emotion: Speech Loudness Facial expressions Attention Gestures Body language
WHAT IS EMOTION?
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
LIST THE 6 FACIAL EXPRESSIONS
Six facial expressions of emotion (Kismet): Anger Happiness Disgust Surprise Sadness Fear
STATE THE PERSONAL SPACES DISTANCES FOR A FRIENDLY HRI
Personal spaces: close intimate < 0.15, intimate < 0.45, personal < 1.2, social <3.6, public
STATE SOME METHODS FOR PERCEIVING HUMANS
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
DEFINE PROPRIOCEPTION
The sense of pressure and touch exerted on muscle tendons and skin receptors
STATE SOME METHODS FOR MOTION PLANNING
Challenge only achieved for 3 to 10 degrees of freedom
Some robots can use potential field method
STATE SOME COGNITIVE MODELS
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
EXPLAIN THE CURRENT RESEARCH IN SPACE ROBOTICS
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
EXPLAIN THE CHARACTERISTICS OF ROBONAUT
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
DESCRIBE THE DISADVNTAGES OF VIRTUAL REALITY TELEOPERATIONS
Equipment uncomfortable Any latency can destroy immersion Distance perception is underestimated 100% natural interface not practical Value added by VR often not evaluated
STATE THE CHARACTERISTICS OF ROBOTS AND SPACE EXPLORATION
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
WHAT ARE THE BENEFICTS AND CHALLENGES OF HRI IN SPACE?
Planetary exploration system will involve robots and humans
Reduces complexity
Need to design and test in analogues
HRI RESEARCH CHALLENGES
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
MAJOR HRI LABORATORIES
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
