Contextualized Robot Navigation

In order to improve the interaction between humans and robots, robots need to be able to move about in a way that is appropriate to the complex environments around them. One way to investigate how the robots should move is through the lens of theatre, which provides us with ways to analyze the robot\u27s movements and the motivations for moving in particular ways. In particular, this has proven useful for improving robot navigation. By altering the costmaps used for path planning, robots can navigate around their environment in ways that incorporate additional contexts. Experimental results with user studies have shown altered costmaps to have a significant effect on the interaction, although the costmaps must be carefully tuned to get the desired effect. The new layered costmap algorithm builds on the established open-source navigation platform, creating a robust system that can be extended to handle a wide range of contextual situations

Studies on user control in ambient intelligent systems

People have a deeply rooted need to experience control and be effective in interactions with their environments. At present times, we are surrounded by intelligent systems that take decisions and perform actions for us. This should make life easier, but there is a risk that users experience less control and reject the system. The central question in this thesis is whether we can design intelligent systems that have a degree of autonomy, while users maintain a sense of control. We try to achieve this by giving the intelligent system an 'expressive interface’: the part that provides information to the user about the internal state, intentions and actions of the system. We examine this question both in the home and the work environment.We find the notion of a ‘system personality’ useful as a guiding principle for designing interactions with intelligent systems, for domestic robots as well as in building automation. Although the desired system personality varies per application, in both domains a recognizable system personality can be designed through expressive interfaces using motion, light, sound, and social cues. The various studies show that the level of automation and the expressive interface can influence the perceived system personality, the perceived level of control, and user’s satisfaction with the system. This thesis shows the potential of the expressive interface as an instrument to help users understand what is going on inside the system and to experience control, which might be essential for the successful adoption of the intelligent systems of the future.<br/

Choreographic and Somatic Approaches for the Development of Expressive Robotic Systems

As robotic systems are moved out of factory work cells into human-facing environments questions of choreography become central to their design, placement, and application. With a human viewer or counterpart present, a system will automatically be interpreted within context, style of movement, and form factor by human beings as animate elements of their environment. The interpretation by this human counterpart is critical to the success of the system's integration: knobs on the system need to make sense to a human counterpart; an artificial agent should have a way of notifying a human counterpart of a change in system state, possibly through motion profiles; and the motion of a human counterpart may have important contextual clues for task completion. Thus, professional choreographers, dance practitioners, and movement analysts are critical to research in robotics. They have design methods for movement that align with human audience perception, can identify simplified features of movement for human-robot interaction goals, and have detailed knowledge of the capacity of human movement. This article provides approaches employed by one research lab, specific impacts on technical and artistic projects within, and principles that may guide future such work. The background section reports on choreography, somatic perspectives, improvisation, the Laban/Bartenieff Movement System, and robotics. From this context methods including embodied exercises, writing prompts, and community building activities have been developed to facilitate interdisciplinary research. The results of this work is presented as an overview of a smattering of projects in areas like high-level motion planning, software development for rapid prototyping of movement, artistic output, and user studies that help understand how people interpret movement. Finally, guiding principles for other groups to adopt are posited.Comment: Under review at MDPI Arts Special Issue "The Machine as Artist (for the 21st Century)" http://www.mdpi.com/journal/arts/special_issues/Machine_Artis

Spartan Daily February 10, 2011

Volume 136, Issue 8https://scholarworks.sjsu.edu/spartandaily/1115/thumbnail.jp

Application of Optimization and Simulation to Musical Composition that Emerges Dynamically during Ensemble Singing Performance

31 pages, 11 FiguresThis paper presents and tests a new approach to composing for ensemble singing performance: reality opera. In the performance of such a composition, emotions of the singers are real and emerge as a consequence of their interactions and reaction and to a dynamic narrative. This paper gives background and motivation for the form, based on three key concepts, incorporating the use of technology. Then proposed techniques for creating reality opera are instantiated in an example, which is performed and a behavioral analysis done of performer reactions, leading to support for the feasibility of the reality opera concept

Actor & Avatar: A Scientific and Artistic Catalog

What kind of relationship do we have with artificial beings (avatars, puppets, robots, etc.)? What does it mean to mirror ourselves in them, to perform them or to play trial identity games with them? Actor & Avatar addresses these questions from artistic and scholarly angles. Contributions on the making of "technical others" and philosophical reflections on artificial alterity are flanked by neuroscientific studies on different ways of perceiving living persons and artificial counterparts. The contributors have achieved a successful artistic-scientific collaboration with extensive visual material

Scaffoldings of the affective mind

publication-status: Acceptedtypes: ArticleIn this paper we adopt Sterelny’s (2010) framework of the scaffolded mind, and its related dimensional approach, to highlight the many ways in which human affectivity (and not just cognition) is environmentally supported. After discussing the relationship between the scaffolded-mind view and related frameworks, such as the “extended-mind” view, we illustrate the many ways in which our affective states are environmentally supported by items of material culture, other people, and their interplay. To do so, we draw on empirical evidence from various disciplines (sociology, ethnography, developmental psychology), and develop phenomenological considerations to distinguish different ways in which we experience the world in affectivity

Design and semantics of form and movement

Contemporary cognitive science and neuroscience offer us some rather precise insights into the mechanisms that are responsible for certain body movements. In this paper, we argue that this knowledge may be highly relevant to the design of meaningful movement and behavior, both from a theoretical and practical point of view. Taking the example of a leech, we investigate and identify the basic principles of "embodied movement" that govern the motion of this simple creature, and argue that the development and adoption of a design methodology that incorporates these principles right from the start, may be the best way forward, if one wants to realize and design movements with certain desirable characteristics