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NASA/ESA Conference on Adaptive Hardware and Systems (AHS)

作者： Víctor Mayoral Risto Kojcev Alejandro Hernández Irati Zamalloa Asier Bilbao ATR Intelligent Robotics and Communication Laboratory 2-2-2 Hikaridai Keihanna Science City Kyoto Japan 5000 Forbes Avenue Carnegie Mellon University Pittsburgh PA USA

We argue that hardware modularity plays a key role in the convergence of robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of a self-adaptable robot that makes use of hardware modularity and AI techniques to reduce the effort and time required to be built. We demonstrate in simulation and with a real robot how, rather than programming, training produces behaviors in the robot that generalize fast and produce robust outputs in the presence of noise.

关键词： Buildings Robot sensing systems Task analysis Artificial intelligence Training Trajectory

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Human-robot interaction design using Interaction Composer eight years of lessons learned 16

Human-robot interaction design using Interaction Composer ei...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Dylan F. Glas Takayuki Kanda Hiroshi Ishiguro Hiroshi Ishiguro Laboratories ATR Kyoto Japan Intelligent Robotics and Communication Laboratories ATR Kyoto Japan Intelligent Robotics Laboratory Osaka universityof Toyonaka Osaka Japan

ISBN: (纸本)9781467383707

Interaction Composer, a visual programming environment designed to enable programmers and non-programmers to collaboratively design social human-robot interactions in the form of state-based flows, has been in use at our laboratory for eight years. The system architecture and the design principles behind the framework have been presented in other work, but in this paper we take a case-study approach, examining several actual examples of the use of this toolkit over an eight-year period. We examine the structure and content of interaction flows, identify common design patterns, and discuss elements of the framework which have proven valuable, features which did not solve their intended purposes, and ways that future systems might better address these issues. It is hoped that the insights gained from this study will contribute to the development of more effective and more usable tools and frameworks for interaction design.

关键词： Visualization Programming Robot sensing systems Speech Laboratories Service robots

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2nd workshop on evaluating Child-Robot Interaction 16

2nd workshop on evaluating Child-Robot Interaction

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Cristina Zaga Manja Lohse Vicky Charisi Vanessa Evers Marc Neerincx Takayuki Kanda Iolanda Leite Human Media Interaction University of Twente Enschede The Netherlands Man machine Interaction Group Delft University of Technology Delft The Netherlands Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Disney Research Pittsburgh Pennsylvania USA

ISBN: (纸本)9781467383707

Many researchers have started to explore natural interaction scenarios for children. No matter if these children are normally developing or have special needs, evaluating Child-Robot Interaction (CRI) is a challenge. To find methods that work well and provide reliable data is difficult, for example because commonly used methods such as questionnaires do not work well particularly with younger children. Previous research has shown that children need support in expressing how they feel about technology. Given this, researchers often choose time-consuming behavioral measures from observations to evaluate CRI. However, these are not necessarily comparable between studies and robots.

关键词： Conferences Robots Pediatrics Human-robot interaction Media Electronic mail Schedules

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Modeling and Controlling Friendliness for An Interactive Museum Robot 10th

Modeling and Controlling Friendliness for An Interactive Mus...

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10th robotics: Science and Systems, RSS 2014

作者： Huang, Chien-Ming Iio, Takamasa Satake, Satoru Kanda, Takayuki University of Wisconsin–Madison United States Intelligent Robotics and Communication Laboratory ATR France

Advances in robotic technologies have enabled interactive robots to utilize humanlike social behaviors to interact with people in public places such as museums. While these behaviors have shown promise in engaging people, they have been designed and applied to users uniformly. Humans, however, behave differently according to their relationships with others. Behavioral changes, from neutral to friendly, contribute to the development of interpersonal relationships. Friendliness, in particular, plays an important role in the early development of a relationship. In this work, we explore how an interactive robot might non-verbally express a variety of friendly behaviors in a museum scenario. Four behavioral variables—response time, approach speed, individual distance, and attentiveness—contributing to perceived friendliness were modeled and implemented for the interactive museum robot. The results of our study showed that people perceived the differences in the designed robot behaviors and related those differences to the friendliness of the robot to varying degrees. This work serves as a building block toward the development of human-robot relationships and has implications on designing friendly behaviors for interactive robots. © 2014, MIT Press Journals. All rights reserved.

关键词： Mobile robots

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Can a social robot help children's understanding of science in classrooms? 14

Can a social robot help children's understanding of science ...

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2nd International Conference on Human-Agent Interaction, HAI 2014

作者： Komatsubara, Tsuyoshi Shiomi, Masahiro Kanda, Takayuki Ishiguro, Hiroshih Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratory 2-2-2 Hikaridai Keihanna Science City Kyoto Japan

ISBN: (纸本)9781450330350

This study investigates whether a social robot which interacts with children via quiz-style conversations increases their understanding of science classes. We installed a social robot in an elementary school science classroom where children could freely interact with it during their breaks. The robot asks children questions related to their latest science classes to support their understanding of the classes. During interaction, the robot says children's name and distribute its gaze among the group of children by using a face recognition system and a human tracking system. Still, speech recognition is difficult in the noisy elementary school environment;therefore the operator takes over this function during interactions. In this study our result did not show significant effects of the robot for helping children's understanding, but we found several interesting interaction scenes which shows that the robot had a certain effect on specific children.

关键词： Face recognition

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How to train your robot - teaching service robots to reproduce human social behavior

How to train your robot - teaching service robots to reprodu...

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IEEE International Workshop on Robot and Human communication (ROMAN)

作者： Phoebe Liu Dylan F. Glas Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Intelligent Robotics Laboratory Osaka University Toyonaka Osaka Japan

ISBN: (纸本)9781479967667

Developing interactive behaviors for social robots presents a number of challenges. It is difficult to interpret the meaning of the details of people's behavior, particularly non-verbal behavior like body positioning, but yet a social robot needs to be contingent to such subtle behaviors. It needs to generate utterances and non-verbal behavior with good timing and coordination. The rules for such behavior are often based on implicit knowledge and thus difficult for a designer to describe or program explicitly. We propose to teach such behaviors to a robot with a learning-by-demonstration approach, using recorded human-human interaction data to identify both the behaviors the robot should perform and the social cues it should respond to. In this study, we present a fully unsupervised approach that uses abstraction and clustering to identify behavior elements and joint interaction states, which are used in a variable-length Markov model predictor to generate socially-appropriate behavior commands for a robot. The proposed technique provides encouraging results despite high amounts of sensor noise, especially in speech recognition. We demonstrate our system with a robot in a shopping scenario.

关键词： Robot sensing systems Joints Speech Speech recognition Cameras Trajectory

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Never too old for teleoperation: Helping elderly people control a conversational service robot

Never too old for teleoperation: Helping elderly people cont...

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22nd IEEE International Symposium on Robot and Human Interactive communication: "Living Together, Enjoying Together, and Working Together with Robots!", IEEE RO-MAN 2013

作者： Glas, Dylan F. Wada, Kanae Shiomi, Masahiro Kanda, Takayuki Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratories Kyoto 619-0288 Japan Intelligent Robotics Laboratory Department of Systems Innovation Osaka University Toyonaka Osaka 560-8531 Japan

ISBN: (纸本)9781479905072

The development of humanlike service robots which interact socially raises a new question: How can we make good interaction content for such robots? Domain experts specializing in the target service have the knowledge for making such content. Yet, while they can easily engage in good face-to-face interactions, we found it difficult for them to prepare conversational content for a robot in written form. Instead, we propose involving experts as teleoperators in an iterative development process in which the expert develops content, teleoperates a robot using that content, and then revises the content based on that interaction. We propose a software system and design guidelines to enable such an iterative design process. To validate these solutions, we conducted a comparison experiment in the field, with elderly volunteer guides teleoperating a robot at a tourist information center in Nara, Japan. The results showed that our system and guidelines enabled domain experts with no robotics background to create better interaction content and conduct better interactions than domain experts without our system. © 2013 IEEE.

关键词： Mobile robots

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Analysis of the visual Lombard effect and automatic recognition experiments

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COMPUTER SPEECH AND LANGUAGE 2013年第1期27卷 288-300页

作者： Heracleous, Panikos Ishi, Carlos T. Sato, Miki Ishiguro, Hiroshi Hagita, Norihiro [a] ATR Intelligent Robotics and Communication Laboratories 2-2-2 Hikaridai Seika-cho Soraku-gun Kyoto-fu 619-0288 Japan [b] ATR Hiroshi Ishiguro Laboratory 2-2-2 Hikaridai Seika-cho Soraku-gun Kyoto-fu 619-0288 Japan

This study focuses on automatic visual speech recognition in the presence of noise. The authors show that, when speech is produced in noisy environments, articulatory changes occur because of the Lombard effect;these changes are both audible and visible. The authors analyze the visual Lombard effect and its role in automatic visual- and audiovisual speech recognition. Experimental results using both English and Japanese data demonstrate the negative effect of the Lombard effect in the visual speech domain. Without considering this factor in designing a lip-reading system, the performance of the system decreases. This is very important in audiovisual speech automatic recognition in real noisy environments. In such a case, however, the recognition rates decrease because of the presence of acoustic noise and because of the Lombard effect. The authors also show that the performance of an audiovisual speech recognizer depends also on the visual Lombard effect and can be further improved when it is considered in designing such a system. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Lip-reading Automatic speech recognition Hidden Markov models (HMMs) Fusion Noise robustness

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Designing for sociality in HRI by means of multiple personas in robots

Designing for sociality in HRI by means of multiple personas...

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8th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013

作者： Ruckert, Jolina H. Kahn Jr., Peter H. Kanda, Takayuki Ishiguro, Hiroshi Shen, Solace Gary, Heather E. Department of Psychology University of Washington Seattle United States Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Department of Systems Innovation Osaka University Osaka Japan

ISBN: (纸本)9781467330558

This conceptual paper provides design guidelines to enhance the sociality of human-robot interaction. The paper draws on the Interaction Pattern Approach in HRI, which seeks to specify the underlying structures and functions of human interaction. We extend this approach by proposing that in the same way people effectively engage the social world with different personas in different contexts, so can robots be designed not only with a single persona but multiple personas. © 2013 IEEE.

关键词： Human robot interaction

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Supervisory control of multiple social robots for navigation 13

Supervisory control of multiple social robots for navigation

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Kuanhao Zheng Dylan F. Glas Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita Intelligent Robotics Laboratory Osaka University Toyonaka Osaka Japan Intelligent Robotics and Communication Laboratories ATR Keihanna Science City Kyoto Japan

ISBN: (纸本)9781467330558

This paper presents a human study and system implementation for the supervisory control of multiple social robots for navigational tasks. We studied the acceptable range of speed for robots interacting with people through navigation, and we discovered that entertaining people by speaking during navigation can increase people's tolerance toward robots' slow locomotion speed. Based on these results and using a robot safety model developed to ensure safety of robots during navigation, we implemented an algorithm which can proactively adjust robot behaviors during navigation to improve the performance of a human-robot team consisting of a single operator and multiple mobile social robots. Finally, we implemented a semi-autonomous robot system and conducted experiments in a shopping mall to verify the effectiveness of our proposed methods in a real-world environment.

关键词： Navigation Safety Customer satisfaction Educational robots Legged locomotion Data collection

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