67 research outputs found
Intelligent Management of Hierarchical Behaviors Using a NAO Robot as a Vocational Tutor
In order to create an intelligent system which can hold an interview using the NAO robot as an interviewer playing the role of a vocational tutor were classified and categorized twenty behaviors within five personality profiles. Five basic emotions are considered: Anger, boredom, interest, surprise and joy. Selected behaviors are grouped according to these five different emotions. Common behaviors (e.g., movements or body postures) used by the robot (who assumes the role of vocational tutor) during vocational guidance sessions will be based on a theory of personality traits called the "Five Factor Model". In this context, a predefined set of questions will be asked by the robot according to a theoretical model called "Orientation Model" about the person's vocational preferences. Therefore, NAO can react as conveniently as possible during the interview according to the score of the answer given by the person to the question posed and its personality type. Additionally, based on the answers to these questions, it is established a vocational profile and the robot can to emit a recommendation about person vocation. The results obtained show how the intelligent selection of behaviors can be successfully achieved through the proposed approach, making the interaction between a human and a robot friendlier
Investigating the Effects of Robot Engagement Communication on Learning from Demonstration
Robot Learning from Demonstration (RLfD) is a technique for robots to derive
policies from instructors' examples. Although the reciprocal effects of student
engagement on teacher behavior are widely recognized in the educational
community, it is unclear whether the same phenomenon holds true for RLfD. To
fill this gap, we first design three types of robot engagement behavior
(attention, imitation, and a hybrid of the two) based on the learning
literature. We then conduct, in a simulation environment, a within-subject user
study to investigate the impact of different robot engagement cues on humans
compared to a "without-engagement" condition. Results suggest that engagement
communication significantly changes the human's estimation of the robots'
capability and significantly raises their expectation towards the learning
outcomes, even though we do not run actual learning algorithms in the
experiments. Moreover, imitation behavior affects humans more than attention
does in all metrics, while their combination has the most profound influences
on humans. We also find that communicating engagement via imitation or the
combined behavior significantly improve humans' perception towards the quality
of demonstrations, even if all demonstrations are of the same quality.Comment: Under revie
Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up
A large body of compelling evidence has been accumulated demonstrating that embodiment โ the agentโs physical setup, including its shape, materials, sensors and actuators โ is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe
Human-centred design methods : developing scenarios for robot assisted play informed by user panels and field trials
Original article can be found at: http://www.sciencedirect.com/ Copyright ElsevierThis article describes the user-centred development of play scenarios for robot assisted play, as part of the multidisciplinary IROMEC1 project that develops a novel robotic toy for children with special needs. The project investigates how robotic toys can become social mediators, encouraging children with special needs to discover a range of play styles, from solitary to collaborative play (with peers, carers/teachers, parents, etc.). This article explains the developmental process of constructing relevant play scenarios for children with different special needs. Results are presented from consultation with panel of experts (therapists, teachers, parents) who advised on the play needs for the various target user groups and who helped investigate how robotic toys could be used as a play tool to assist in the childrenโs development. Examples from experimental investigations are provided which have informed the development of scenarios throughout the design process. We conclude by pointing out the potential benefit of this work to a variety of research projects and applications involving humanโrobot interactions.Peer reviewe
Persuasiveness of social robot โNaoโ based on gaze and proximity
Social Robots have widely infiltrated the retail and public space. Mainly, social robots are being utilized across a wide range of scenarios to influence decision making, disseminate information, and act as a signage mechanism, under the umbrella of Persuasive Robots or Persuasive Technology. While there have been several studies in the afore-mentioned area, the effect of non-verbal behaviour on persuasive abilities is generally unexplored. Therefore, in this research, we report whether two key non-verbal attributes, namely proximity and gaze, can elicit persuasively, compliance, and specific personality appeals. For this, we conducted a 2 (eye gaze) x 2 (proximity) between-subjects experiment where participants viewed a video-based scenario of the Nao robot. Our initial results did not reveal any significant results based on the non-verbal attributes. However, perceived compliance and persuasion were significantly correlated with knowledge, responsiveness, and trustworthiness. In conclusion, we discuss how the design of a robot could make it more convincing as extensive marketing and brand promotion companies could use robots to enhance their advertisement operations
Metrics to Evaluate Human Teaching Engagement From a Robot's Point of View
This thesis was motivated by a study of how robots can be taught by humans, with an
emphasis on allowing persons without programming skills to teach robots. The focus of this
thesis was to investigate what criteria could or should be used by a robot to evaluate
whether a human teacher is (or potentially could be) a good teacher in robot learning by
demonstration. In effect, choosing the teacher that can maximize the benefit to the robot
using learning by imitation/demonstration.
The study approached this topic by taking a technology snapshot in time to see if a
representative example of research laboratory robot technology is capable of assessing
teaching quality. With this snapshot, this study evaluated how humans observe teaching
quality to attempt to establish measurement metrics that can be transferred as rules or
algorithms that are beneficial from a robotโs point of view.
To evaluate teaching quality, the study looked at the teacher-student relationship from a
human-human interaction perspective. Two factors were considered important in defining a
good teacher: engagement and immediacy. The study gathered more literature reviews
relating to further detailed elements of engagement and immediacy. The study also tried to
link physical effort as a possible metric that could be used to measure the level of
engagement of the teachers.
An investigatory experiment was conducted to evaluate which modality the participants
prefer to employ in teaching a robot if the robot can be taught using voice, gesture
demonstration, or physical manipulation. The findings from this experiment suggested that
the participants appeared to have no preference in terms of human effort for completing
the task. However, there was a significant difference in human enjoyment preferences of
input modality and a marginal difference in the robotโs perceived ability to imitate.
A main experiment was conducted to study the detailed elements that might be used by a
robot in identifying a โgoodโ teacher. The main experiment was conducted in two subexperiments.
The first part recorded the teacherโs activities and the second part analysed
how humans evaluate the perception of engagement when assessing another human
teaching a robot. The results from the main experiment suggested that in human teaching of
a robot (human-robot interaction), humans (the evaluators) also look for some immediacy
cues that happen in human-human interaction for evaluating the engagement
Designing Sound for Social Robots: Advancing Professional Practice through Design Principles
Sound is one of the core modalities social robots can use to communicate with the humans around them in rich, engaging, and effective ways. While a robot's auditory communication happens predominantly through speech, a growing body of work demonstrates the various ways non-verbal robot sound can affect humans, and researchers have begun to formulate design recommendations that encourage using the medium to its full potential. However, formal strategies for successful robot sound design have so far not emerged, current frameworks and principles are largely untested and no effort has been made to survey creative robot sound design practice.
In this dissertation, I combine creative practice, expert interviews, and human-robot interaction studies to advance our understanding of how designers can best ideate, create, and implement robot sound. In a first step, I map out a design space that combines established sound design frameworks with insights from interviews with robot sound design experts. I then systematically traverse this space across three robot sound design explorations, investigating (i) the effect of artificial movement sound on how robots are perceived, (ii) the benefits of applying compositional theory to robot sound design, and (iii) the role and potential of spatially distributed robot sound. Finally, I implement the designs from prior chapters into humanoid robot Diamandini, and deploy it as a case study.
Based on a synthesis of the data collection and design practice conducted across the thesis, I argue that the creation of robot sound is best guided by four design perspectives: fiction (sound as a means to convey a narrative), composition (sound as its own separate listening experience), plasticity (sound as something that can vary and adapt over time), and space (spatial distribution of sound as a separate communication channel). The conclusion of the thesis presents these four perspectives and proposes eleven design principles across them which are supported by detailed examples. This work contributes an extensive body of design principles, process models, and techniques providing researchers and designers with new tools to enrich the way robots communicate with humans
๋ก๋ด์ ์ ์ฒด ์ธ์ด๊ฐ ์ฌํ์ ํน์ฑ๊ณผ ์ธ๊ฐ ์ ์ฌ์ฑ์ ๋ฏธ์น๋ ์ํฅ
ํ์๋
ผ๋ฌธ (์์ฌ) -- ์์ธ๋ํ๊ต ๋ํ์ : ์ฌํ๊ณผํ๋ํ ์ฌ๋ฆฌํ๊ณผ, 2021. 2. Sowon Hahn.The present study investigated the role of robotsโ body language on perceptions of social qualities and human-likeness in robots. In experiment 1, videos of a robotโs body language varying in expansiveness were used to evaluate the two aspects. In experiment 2, videos of social interactions containing the body languages in experiment 1 were used to further examine the effects of robotsโ body language on these aspects. Results suggest that a robot conveying open body language are evaluated higher on perceptions of social characteristics and human-likeness compared to a robot with closed body language. These effects were not found in videos of social interactions (experiment 2), which suggests that other features play significant roles in evaluations of a robot. Nonetheless, current research provides evidence of the importance of robotsโ body language in judgments of social characteristics and human-likeness. While measures of social qualities and human-likeness favor robots that convey open body language, post-experiment interviews revealed that participants expect robots to alleviate feelings of loneliness and empathize with them, which require more diverse body language in addition to open body language. Thus, robotic designers are encouraged to develop robots capable of expressing a wider range of motion. By enabling complex movements, more natural communications between humans and robots are possible, which allows humans to consider robots as social partners.๋ณธ ์ฐ๊ตฌ๋ ๋ก๋ด์ ์ ์ฒด ์ธ์ด๊ฐ ์ฌํ์ ํน์ฑ๊ณผ ์ธ๊ฐ๊ณผ์ ์ ์ฌ์ฑ์ ๋ํ ์ธ๊ฐ์ ์ธ์์ ๋ฏธ์น๋ ์ํฅ์ ํ์ํ์๋ค. ์คํ 1์์๋ ๋ก๋ด์ ๊ฐ๋ฐฉ์ ์ ์ฒด ์ธ์ด๊ฐ ๋ฌ์ฌ๋ ์์๊ณผ ํ์์ ์ ์ฒด ์ธ์ด๊ฐ ๋ฌ์ฌ๋ ์์์ ํตํด ์ด๋ฌํ ์ธ ๊ฐ์ง ์ธก๋ฉด์ ์ดํด๋ณด์๋ค. ์คํ 2์์๋ ์คํ 1์ ์ ์ฒด ์ธ์ด๊ฐ ํฌํจ๋ ๋ก๋ด๊ณผ ์ฌ๋ ๊ฐ์ ์ํธ์์ฉ ์์์ ํ์ฉํ์ฌ ๋ก๋ด์ ์ ์ฒด ์ธ์ด๊ฐ ์ ๋ ๊ฐ์ง ์ธก๋ฉด์ ๋ฏธ์น๋ ์ํฅ์ ํ์ํ์๋ค. ๊ฒฐ๊ณผ์ ์ผ๋ก, ์ฌ๋๋ค์ ํ์์ ์ ์ฒด ์ธ์ด๋ฅผ ํํํ๋ ๋ก๋ด์ ๋นํด ๊ฐ๋ฐฉ์ ์ ์ฒด ์ธ์ด๋ฅผ ํํํ๋ ๋ก๋ด์ ์ฌํ์ ํน์ฑ๊ณผ ์ธ๊ฐ๊ณผ์ ์ ์ฌ์ฑ์ ๋ํ ์ธ์ ๋ฉด์์ ๋ ๋๊ฒ ํ๊ฐํ๋ค๋ ๊ฒ์ ํ์ธํ์๋ค. ๊ทธ๋ฌ๋ ์ฌ๋๊ณผ์ ์ํธ์์ฉ์ ๋ด์ ์์์ ํตํด์๋ ์ด๋ฌํ ํจ๊ณผ๊ฐ ๋ฐ๊ฒฌ๋์ง ์์์ผ๋ฉฐ, ์ด๋ ์คํ 2์ ํฌํจ๋ ์์ฑ ๋ฑ์ ๋ค๋ฅธ ํน์ง์ด ๋ก๋ด์ ๋ํ ํ๊ฐ์ ์ค์ํ ์ญํ ์ ํ๋ค๋ ๊ฒ์ ์์ฌํ๋ค. ๊ทธ๋ผ์๋ ๋ถ๊ตฌํ๊ณ , ๋ณธ ์ฐ๊ตฌ๋ ๋ก๋ด์ ์ ์ฒด ์ธ์ด๊ฐ ์ฌํ์ ํน์ฑ ๋ฐ ์ธ๊ฐ๊ณผ์ ์ ์ฌ์ฑ์ ๋ํ ์ธ์์ ์ค์ํ ์์ธ์ด ๋๋ค๋ ๊ทผ๊ฑฐ๋ฅผ ์ ๊ณตํ๋ค. ์ฌํ์ ํน์ฑ๊ณผ ์ธ๊ฐ๊ณผ์ ์ ์ฌ์ฑ์ ์ฒ๋์์๋ ๊ฐ๋ฐฉ์ ์ ์ฒด ์ธ์ด๋ฅผ ํํํ๋ ๋ก๋ด์ด ๋ ๋๊ฒ ํ๊ฐ๋์์ง๋ง, ์คํ ํ ์ธํฐ๋ทฐ์์๋ ๋ก๋ด์ด ์ธ๋ก์ด ๊ฐ์ ์ ์ํํ๊ณ ๊ณต๊ฐํ๊ธฐ๋ฅผ ๊ธฐ๋ํ๋ ๊ฒ์ผ๋ก ๋ํ๋ ์ด ์ํฉ๋ค์ ์ ์ ํ ํ์์ ์ ์ฒด ์ธ์ด ๋ํ ๋ฐฐ์ ํ ์ ์๋ค๊ณ ํด์ํ ์ ์๋ค. ์ด์ ๋ฐ๋ผ ๋ณธ ์ฐ๊ตฌ์์๋ ๋ก๋ด ๋์์ด๋๋ค์ด ๋์ฑ ๋ค์ํ ๋ฒ์์ ์์ง์์ ํํํ ์ ์๋ ๋ก๋ด์ ๊ฐ๋ฐํ๋๋ก ์ฅ๋ คํ๋ค. ๊ทธ๋ ๋ค๋ฉด ์ฌ์ธํ ์์ง์์ ๋ฐ๋ฅธ ์์ฐ์ค๋ฌ์ด ์์ฌ์ํต์ ํตํด ์ธ๊ฐ์ด ๋ก๋ด์ ์ฌํ์ ๋๋ฐ์๋ก ์ธ์ํ ์ ์์ ๊ฒ์ด๋ค.Chapter 1. Introduction 1
1. Motivation 1
2. Theoretical Background and Previous Research 3
3. Purpose of Study 12
Chapter 2. Experiment 1 13
1. Objective and Hypotheses 13
2. Methods 13
3. Results 21
4. Discussion 31
Chapter 3. Experiment 2 34
1. Objective and Hypotheses 34
2. Methods 35
3. Results 38
4. Discussion 50
Chapter 4. Conclusion 52
Chapter 5. General Discussion 54
References 60
Appendix 70
๊ตญ๋ฌธ์ด๋ก 77Maste
Drama, a connectionist model for robot learning: experiments on grounding communication through imitation in autonomous robots
The present dissertation addresses problems related to robot learning from demonstraยฌ
tion. It presents the building of a connectionist architecture, which provides the robot
with the necessary cognitive and behavioural mechanisms for learning a synthetic lanยฌ
guage taught by an external teacher agent. This thesis considers three main issues:
1) learning of spatio-temporal invariance in a dynamic noisy environment, 2) symbol
grounding of a robot's actions and perceptions, 3) development of a common symbolic
representation of the world by heterogeneous agents.We build our approach on the assumption that grounding of symbolic communication
creates constraints not only on the cognitive capabilities of the agent but also and especially on its behavioural capacities. Behavioural skills, such as imitation, which allow
the agent to co-ordinate its actionn to that of the teacher agent, are required aside to
general cognitive abilities of associativity, in order to constrain the agent's attention
to making relevant perceptions, onto which it grounds the teacher agent's symbolic
expression. In addition, the agent should be provided with the cognitive capacity for
extracting spatial and temporal invariance in the continuous flow of its perceptions.
Based on this requirement, we develop a connectionist architecture for learning time
series. The model is a Dynamical Recurrent Associative Memory Architecture, called
DRAMA. It is a fully connected recurrent neural network using Hebbian update rules.
Learning is dynamic and unsupervised. The performance of the architecture is analysed theoretically, through numerical simulations and through physical and simulated
robotic experiments. Training of the network is computationally fast and inexpensive,
which allows its implementation for real time computation and on-line learning in a
inexpensive hardware system. Robotic experiments are carried out with different learning tasks involving recognition of spatial and temporal invariance, namely landmark
recognition and prediction of perception-action sequence in maze travelling.The architecture is applied to experiments on robot learning by imitation. A learner
robot is taught by a teacher agent, a human instructor and another robot, a vocabulary
to describe its perceptions and actions. The experiments are based on an imitative
strategy, whereby the learner robot reproduces the teacher's actions. While imitating
the teacher's movements, the learner robot makes similar proprio and exteroceptions
to those of the teacher. The learner robot grounds the teacher's words onto the set of
common perceptions they share. We carry out experiments in simulated and physical
environments, using different robotic set-ups, increasing gradually the complexity of
the task. In a first set of experiments, we study transmission of a vocabulary to
designate actions and perception of a robot. Further, we carry out simulation studies,
in which we investigate transmission and use of the vocabulary among a group of
robotic agents. In a third set of experiments, we investigate learning sequences of the
robot's perceptions, while wandering in a physically constrained environment. Finally,
we present the implementation of DRAMA in Robota, a doll-like robot, which can
imitate the arms and head movements of a human instructor. Through this imitative
game, Robota is taught to perform and label dance patterns. Further, Robota is taught
a basic language, including a lexicon and syntactical rules for the combination of words
of the lexicon, to describe its actions and perception of touch onto its body
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