Visualizing Robot Intent for Object Handovers with Augmented Reality

Humans are very skillful in communicating their intent for when and where a handover would occur. On the other hand, even the state-of-the-art robotic implementations for handovers display a general lack of communication skills. We propose visualizing the internal state and intent of robots for Human-to-Robot Handovers using Augmented Reality. Specifically, we visualize 3D models of the object and the robotic gripper to communicate the robot's estimation of where the object is and the pose that the robot intends to grasp the object. We conduct a user study with 16 participants, in which each participant handed over a cube-shaped object to the robot 12 times. Results show that visualizing robot intent using augmented reality substantially improves the subjective experience of the users for handovers and decreases the time to transfer the object. Results also indicate that the benefits of augmented reality are still present even when the robot makes errors in localizing the object.Comment: 6 pages, 4 Figures, 2 Table

Nonverbal Communication During Human-Robot Object Handover. Improving Predictability of Humanoid Robots by Gaze and Gestures in Close Interaction

Meyer zu Borgsen S. Nonverbal Communication During Human-Robot Object Handover. Improving Predictability of Humanoid Robots by Gaze and Gestures in Close Interaction. Bielefeld: Universität Bielefeld; 2020.This doctoral thesis investigates the influence of nonverbal communication on human-robot object handover. Handing objects to one another is an everyday activity where two individuals cooperatively interact. Such close interactions incorporate a lot of nonverbal communication in order to create alignment in space and time. Understanding and transferring communication cues to robots becomes more and more important as e.g. service robots are expected to closely interact with humans in the near future. Their tasks often include delivering and taking objects. Thus, handover scenarios play an important role in human-robot interaction. A lot of work in this field of research focuses on speed, accuracy, and predictability of the robot’s movement during object handover. Still, robots need to be enabled to closely interact with naive users and not only experts. In this work I present how nonverbal communication can be implemented in robots to facilitate smooth handovers. I conducted a study on people with different levels of experience exchanging objects with a humanoid robot. It became clear that especially users with only little experience in regard to interaction with robots rely heavily on the communication cues they are used to on the basis of former interactions with humans. I added different gestures with the second arm, not directly involved in the transfer, to analyze the influence on synchronization, predictability, and human acceptance. Handing an object has a special movement trajectory itself which has not only the purpose of bringing the object or hand to the position of exchange but also of socially signalizing the intention to exchange an object. Another common type of nonverbal communication is gaze. It allows guessing the focus of attention of an interaction partner and thus helps to predict the next action. In order to evaluate handover interaction performance between human and robot, I applied the developed concepts to the humanoid robot Meka M1. By adding the humanoid robot head named Floka Head to the system, I created the Floka humanoid, to implement gaze strategies that aim to increase predictability and user comfort. This thesis contributes to the field of human-robot object handover by presenting study outcomes and concepts along with an implementation of improved software modules resulting in a fully functional object handing humanoid robot from perception and prediction capabilities to behaviors enhanced and improved by features of nonverbal communication

End-to-End Simulation of 5G mmWave Networks

Due to its potential for multi-gigabit and low latency wireless links, millimeter wave (mmWave) technology is expected to play a central role in 5th generation cellular systems. While there has been considerable progress in understanding the mmWave physical layer, innovations will be required at all layers of the protocol stack, in both the access and the core network. Discrete-event network simulation is essential for end-to-end, cross-layer research and development. This paper provides a tutorial on a recently developed full-stack mmWave module integrated into the widely used open-source ns--3 simulator. The module includes a number of detailed statistical channel models as well as the ability to incorporate real measurements or ray-tracing data. The Physical (PHY) and Medium Access Control (MAC) layers are modular and highly customizable, making it easy to integrate algorithms or compare Orthogonal Frequency Division Multiplexing (OFDM) numerologies, for example. The module is interfaced with the core network of the ns--3 Long Term Evolution (LTE) module for full-stack simulations of end-to-end connectivity, and advanced architectural features, such as dual-connectivity, are also available. To facilitate the understanding of the module, and verify its correct functioning, we provide several examples that show the performance of the custom mmWave stack as well as custom congestion control algorithms designed specifically for efficient utilization of the mmWave channel.Comment: 25 pages, 16 figures, submitted to IEEE Communications Surveys and Tutorials (revised Jan. 2018

SymbioCity: Smart Cities for Smarter Networks

The "Smart City" (SC) concept revolves around the idea of embodying cutting-edge ICT solutions in the very fabric of future cities, in order to offer new and better services to citizens while lowering the city management costs, both in monetary, social, and environmental terms. In this framework, communication technologies are perceived as subservient to the SC services, providing the means to collect and process the data needed to make the services function. In this paper, we propose a new vision in which technology and SC services are designed to take advantage of each other in a symbiotic manner. According to this new paradigm, which we call "SymbioCity", SC services can indeed be exploited to improve the performance of the same communication systems that provide them with data. Suggestive examples of this symbiotic ecosystem are discussed in the paper. The dissertation is then substantiated in a proof-of-concept case study, where we show how the traffic monitoring service provided by the London Smart City initiative can be used to predict the density of users in a certain zone and optimize the cellular service in that area.Comment: 14 pages, submitted for publication to ETT Transactions on Emerging Telecommunications Technologie

Toward Effective Physical Human-Robot Interaction

With the fast advancement of technology, in recent years, robotics technology has significantly matured and produced robots that are able to operate in unstructured environments such as domestic environments, offices, hospitals and other human-inhabited locations. In this context, the interaction and cooperation between humans and robots has become an important and challenging aspect of robot development. Among the various kinds of possible interactions, in this Ph.D. thesis I am particularly interested in physical human-robot interaction (pHRI). In order to study how a robot can successfully engage in physical interaction with people and which factors are crucial during this kind of interaction, I investigated how humans and robots can hand over objects to each other. To study this specific interactive task I developed two robotic prototypes and conducted human-robot user studies. Although various aspects of human-robot handovers have been deeply investigated in the state of the art, during my studies I focused on three issues that have been rarely investigated so far: Human presence and motion analysis during the interaction in order to infer non-verbal communication cues and to synchronize the robot actions with the human motion; Development and evaluation of human-aware pro-active robot behaviors that enable robots to behave actively in the proximity of the human body in order to negotiate the handover location and to perform the transfer of the object; Consideration of objects grasp affordances during the handover in order to make the interaction more comfortable for the human