This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer

We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that are non-physical borders, to allow a user the restriction of the robot's workspace. To this end, we propose an interaction method based on a laser pointer to intuitively define virtual borders. This interaction method uses a previously developed framework based on robot guidance to change the robot's navigational behavior. Furthermore, we extend this framework to increase the flexibility by considering different types of virtual borders, i.e. polygons and curves separating an area. We evaluated our method with 15 non-expert users concerning correctness, accuracy and teaching time. The experimental results revealed a high accuracy and linear teaching time with respect to the border length while correctly incorporating the borders into the robot's navigational map. Finally, our user study showed that non-expert users can employ our interaction method.Comment: Accepted at 2019 Third IEEE International Conference on Robotic Computing (IRC), supplementary video: https://youtu.be/lKsGp8xtyI

Embodied conversations: Performance and the design of a robotic dancing partner

This paper reports insights gained from an exploration of performance-based techniques to improve the design of relationships between people and responsive machines. It draws on the Emergent Objects project and specifically addresses notions of embodiment as employed in the field of performance as a means to prototype and develop a robotic agent, SpiderCrab, designed to promote expressive interaction of device and human dancer, in order to achieve ‘performative merging’. The significance of the work is to bring further knowledge of embodiment to bear on the development of human-technological interaction in general. In doing so, it draws on discursive and interpretive methods of research widely used in the field of performance but not yet obviously aligned with some orthodox paradigms and practices within design research. It also posits the design outcome as an ‘objectile’ in the sense that a continuous and potentially divergent iteration of prototypes is envisaged, rather than a singular final product. The focus on performative merging draws in notions of complexity and user experience. Keywords: Embodiment; Performance; Tacit Knowledge; Practice-As-Research; Habitus.</p

Social Roles and Baseline Proxemic Preferences for a Domestic Service Robot

© The Author(s) 2014. This article is published with open access at Springerlink.com. This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. The work described in this paper was conducted within the EU Integrated Projects LIREC (LIving with Robots and intEractive Companions, funded by the European Commission under contract numbers FP7 215554, and partly funded by the ACCOMPANY project, a part of the European Union’s Seventh Framework Programme (FP7/2007–2013) under grant agreement n287624The goal of our research is to develop socially acceptable behavior for domestic robots in a setting where a user and the robot are sharing the same physical space and interact with each other in close proximity. Specifically, our research focuses on approach distances and directions in the context of a robot handing over an object to a userPeer reviewe