Towards expressive mobile robots

Given the increase in robotic systems for the household, it is imperative to design the expressive modes of these systems, that in turn engender likability, animacy, acceptance, trust and adoption. This paper approaches this problem by proposing a design methodology that can be used to abstract archetypal characters across the system, including form factor, user instructions, and interactive modalities. This approach uses Laban Movement Analysis paired with the Kansei Engineering iterative design approach to dissect movement and visual traits of archetypal characters and marry them to features of the robot and user experience. Specifically, these character traits are explored in a product, channel, consumer framework and are realized through tangible interface elements, such as color, animated eyes, and character specific motion profiles. Finally, the use of priming using familiar characters from popular culture as a means to enhance the recognition of character traits is explored. The effectiveness of this methodology is tested in a user-study, where participants play a game of tic-tac-toe with an aerial robot in virtual reality. Results show that users associated traits specific to each character archetype that were consistent with the intended design. This was bolstered in the priming cases, where users rated these traits more strongly. This was followed by the design and construction of a hardware platform that showcases this methodology, for two platforms, a ground robot and an aerial robot. Finally, the use of a performance setting as a tool for priming potential users is explored, outlined in the performance piece, ”Time to Compile”. Interviews with stakeholders were conducted throughout this work and have informed the approach taken and will be briefly outlined in this thesis as well. This methodology serves as a tool to create meaningful design variations to robotic systems using character archetypes, allowing us to design user- specific personality traits and interactive elements

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