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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Glas, Dylan F. Kanda, Takayuki Ishiguro, Hiroshi Hagita, Norihiro Intelligent Robotics and Communication Laboratories ATR 2-2-2 Hikaridai Keihanna Science City Kyoto 619-0288 Japan Intelligent Robotics Laboratory Osaka University 2-1 Yamada-oka Suita Osaka 565-0871 Japan

ISBN: (纸本)9781605580173

Teleoperation of multiple robots has been studied extensively for applications such as robot navigation;however, this concept has never been applied to the field of social robots. To explore the unique challenges posed by the remote operation of multiple social robots, we have implemented a system in which a single operator simultaneously controls up to four robots, all engaging in communication interactions with users. We present a user inter-face designed for operating a single robot while monitoring several others in the background, then we propose methods for characterizing task difficulty and introduce a technique for improving multiple-robot performance by reducing the number of conflicts between robots demanding the operator's attention. Finally, we demonstrate the success of our system in laboratory trials based on real-world interactions. Copyright 2008 ACM.

关键词： Human robot interaction

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Design patterns for sociality in human-robot interaction 08

Design patterns for sociality in human-robot interaction

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Kahn Jr., Peter H. Freier, Nathan G. Kanda, Takayuki Ishiguro, Hiroshi Ruckert, Jolina H. Severson, Rachel L. Kane, Shaun K. Department of Psychology University of Washington Seattle WA United States Language Literature and Communication Rensselaer Polytechnic Institute Troy NY United States Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Department of Adaptive Systems Osaka University Osaka Japan Information School University of Washington Seattle WA United States

ISBN: (纸本)9781605580173

We propose that Christopher Alexander's idea of design patterns can benefit the emerging field of HRI. We first discuss four features of design patterns that appear particularly useful. For example, a pattern should be specified abstractly enough such that many different instantiations of the pattern can be uniquely realized in the solution to specific problems in context. Then, after describing our method for generating patterns, we offer and describe eight possible design patterns for sociality in human robot interaction: initial introduction, didactic communication, in motion together, personal interests and history, recovering from mistakes, reciprocal turn-taking in game context, physical intimacy, and claiming unfair treatment or wrongful harms. We also discuss the issue of validation of design patterns. If a design pattern program proves successful, it will provide HRI researchers with basic knowledge about human robot interaction, and save time through the reuse of patterns to achieve high levels of sociality. Copyright 2008 ACM.

关键词： Human robot interaction

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How quickly should communication robots respond? 08

How quickly should communication robots respond?

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Shiwa, Toshiyuki Kanda, Takayuki Imai, Michita Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratory 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Information and Computer Science Keio University 3-14-1 Hiyoshi Kouhoku-ku Yokohama Kanagawa Japan Faculty of Engineering Osaka University 2-1 Yamadaoka Suita City Osaka Japan

ISBN: (纸本)9781605580173

This paper reports a study about system response time (SRT) in communication robots that utilize human-like social features, such as anthropomorphic appearance and conversation in natural language. Our research purpose established a design guideline for SRT in communication robots. The first experiment observed user preferences toward different SRTs in interaction with a robot. In other existing user interfaces, faster response is usually preferred. In contrast, our experimental result indicated that user preference for SRT in a communication robot is highest at one second, and user preference ratings level off at two seconds. However, a robot cannot always respond in such a short time as one or two seconds. Thus, the important question is "What should a robot do if it cannot respond quickly enough?" The second experiment tested the effectiveness of a conversational filler: behavior to notify listeners that the robot is going to respond. In Japanese "etto" is used to buy time to think and resembles "well..." and "uh..." In English. We used the same strategy in a communication robot to shadow system response time. Our results indicated that using a conversational filler by the robot moderated the user's impression toward a long SRT. Copyright 2008 ACM.

关键词： Fillers

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What is a human? - Toward psychological benchmarks in the field of human-robot interaction

What is a human? - Toward psychological benchmarks in the fi...

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RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive communication

作者： Kahn Jr., Peter H. Ishiguro, Hiroshi Friedman, Batya Kanda, Takayuki Department of Psychology Box 351525 University of Washington Seattle WA 98195 United States Department of Adaptive Systems Osaka University 2-1 Yamadaoka Suita City Osaka Japan Intelligent Robotics and Communication Laboratory ATR 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Information School Box 352840 University of Washington Seattle WA 98195 United States

ISBN: (纸本)1424405653

In this paper, we move toward offering psychological benchmarks by which to measure success in building increasingly human-like robots. By psychological benchmarks we mean categories of interaction that capture conceptually fundamental aspects of human life, specified abstractly enough so as to resist their identity as a mere psychological instrument, but capable of being translated into testable empirical propositions. Six possible benchmarks are considered: autonomy, imitation, intrinsic moral value, moral accountability, privacy, and reciprocity. Finally, we discuss how getting the right group of benchmarks in human-robot interaction will, in future years, help inform on the foundational question of what constitutes essential features of being human. © 2006 IEEE.

关键词： Human robot interaction

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Video text recognition using category-dependent feature extraction based on feature compensation

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Systems and Computers in Japan 2005年第10期36卷 1-8页

作者： Mori, Minoru Sawaki, Minako Hagita, Norihiro NTT Communication Science Laboratories NTT Corporation Atsugi 243-0198 Japan NTT Science and Core Technology Laboratory Group NTT Corporation Atsugi 243-0198 Japan ATR Intelligent Robotics and Communication Laboratories Keihanna Science City 619-0288 Japan NTT-East Corporation BroadBand Business Development Division NTT Communication Science Laboratories ATR Intelligent Robotics and Communication Laboratories IEEE Information Processing Society of Japan Japanese Society for Artificial Intelligence

When recognizing multiple fonts, geometric features, such as the directional information of strokes, are generally robust against deformation but are weak against degradation. This paper describes a category-dependent feature extraction method that uses feature compensation to over-come this weakness. Our proposed method estimates the degree of degradation of an input pattern by comparing the input pattern to a template of each category. This estimation enables us to offset the degradation in feature values. We apply the proposed method to the recognition of video text suffering from both degradation and deformation. Recognition experiments using characters extracted from videos show that the proposed method is superior to the conventional alternatives in resisting degradation. © 2005 Wiley Periodicals, Inc.

关键词： Text processing

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Towards social robots: Automatic evaluation of human-robot interaction by face detection and expression classification

Towards social robots: Automatic evaluation of human-robot i...

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17th Annual Conference on Neural Information Processing Systems, NIPS 2003

作者： Bartlett, M.S. Littlewort, G. Fasel, I. Chenu, J. Kanda, T. Ishiguro, H. Movellan, J.R. Institute for Neural Computation University of California San Diego United States Intelligent Robotics and Communication Laboratory ATR Kyoto Japan

ISBN: (纸本)0262201526

Computer animated agents and robots bring a social dimension to human computer interaction and force us to think in new ways about how computers could be used in daily life. Face to face communication is a real-time process operating at a time scale of less than a second. In this paper we present progress on a perceptual primitive to automatically detect frontal faces in the video stream and code them with respect to 7 dimensions in real time: neutral, anger, disgust, fear, joy, sadness, surprise. The face finder employs a cascade of feature detectors trained with boosting techniques [13, 2]. The expression recognizer employs a novel combination of Adaboost and SVM's. The generalization performance to new subjects for a 7-way forced choice was 93.3% and 97% correct on two publicly available datasets. The outputs of the classifier change smoothly as a function of time, providing a potentially valuable representation to code facial expression dynamics in a fully automatic and unobtrusive manner. The system was deployed and evaluated for measuring spontaneous facial expressions in the field in an application for automatic assessment of human-robot interaction.

关键词： Human robot interaction

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Real Time Face Detection and Facial Expression Recognition: Development and Applications to Human Computer Interaction

Real Time Face Detection and Facial Expression Recognition: ...

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Conference on Computer Vision and Pattern Recognition Workshop, CVPRW 2003

作者： Bartlett, Marian Stewart Littlewort, Gwen Fasel, Ian Movellan, Javier R. Machine Perception Laboratory Institute for Neural Computation University of California San DiegoCA92093 United States Intelligent Robotics and Communication Laboratories ATR Kyoto Japan

ISBN: (纸本)0769519008

Computer animated agents and robots bring a social dimension to human computer interaction and force us to think in new ways about how computers could be used in daily life. Face to face communication is a real-time process operating at a a time scale in the order of 40 milliseconds. The level of uncertainty at this time scale is considerable, making it necessary for humans and machines to rely on sensory rich perceptual primitives rather than slow symbolic inference processes. In this paper we present progress on one such perceptual primitive. The system automatically detects frontal faces in the video stream and codes them with respect to 7 dimensions in real time: neutral, anger, disgust, fear, joy, sadness, surprise. The face finder employs a cascade of feature detectors trained with boosting techniques [15, 2]. The expression recognizer receives image patches located by the face detector. A Gabor representation of the patch is formed and then processed by a bank of SVM classifiers. A novel combination of Adaboost and SVM's enhances performance. The system was tested on the Cohn-Kanade dataset of posed facial expressions [6]. The generalization performance to new subjects for a 7- way forced choice correct. Most interestingly the outputs of the classifier change smoothly as a function of time, providing a potentially valuable representation to code facial expression dynamics in a fully automatic and unobtrusive manner. The system has been deployed on a wide variety of platforms including Sony's Aibo pet robot, atr's RoboVie, and CU animator, and is currently being evaluated for applications including automatic reading tutors, assessment of human-robot interaction. © 2003 IEEE.

关键词： Adaptive boosting

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Real Time Face Detection and Facial Expression Recognition: Development and Applications to Human Computer Interaction.

Real Time Face Detection and Facial Expression Recognition: ...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Marian Stewart Bartlett Gwen Littlewort Ian Fasel Javier R. Movellan Machine Perception Laboratory University of California San Diego CA USA Intelligent Robotics and Communication Laboratories ATR Kyoto Japan

Computer animated agents and robots bring a social dimension to human computer interaction and force us to think in new ways about how computers could be used in daily life. Face to face communication is a real-time process operating at a a time scale in the order of 40 milliseconds. The level of uncertainty at this time scale is considerable, making it necessary for humans and machines to rely on sensory rich perceptual primitives rather than slow symbolic inference processes. In this paper we present progress on one such perceptual primitive. The system automatically detects frontal faces in the video stream and codes them with respect to 7 dimensions in real time: neutral, anger, disgust, fear, joy, sadness, surprise. The face finder employs a cascade of feature detectors trained with boosting techniques [15, 2]. The expression recognizer receives image patches located by the face detector. A Gabor representation of the patch is formed and then processed by a bank of SVM classifiers. A novel combination of Adaboost and SVM's enhances performance. The system was tested on the Cohn-Kanade dataset of posed facial expressions [6]. The generalization performance to new subjects for a 7- way forced choice correct. Most interestingly the outputs of the classifier change smoothly as a function of time, providing a potentially valuable representation to code facial expression dynamics in a fully automatic and unobtrusive manner. The system has been deployed on a wide variety of platforms including Sony's Aibo pet robot, atr's RoboVie, and CU animator, and is currently being evaluated for applications including automatic reading tutors, assessment of human-robot interaction.

关键词： Face Real time systems Robots Pixel Training Support vector machines Gabor filters

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Towards social robots: automatic evaluation of human-robot interaction by face detection and expression classification 03

Towards social robots: automatic evaluation of human-robot i...

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Proceedings of the 17th International Conference on Neural Information Processing Systems

作者： M. S. Bartlett G. Littlewort I. Fasel J. Chenu T. Kanda H. Ishiguro J. R. Movellan Institute for Neural Computation University of California San Diego Institute for Neural Computation University of California San Diego and Intelligent Robotics and Communication Laboratory ATR Kyoto Japan

Computer animated agents and robots bring a social dimension to human computer interaction and force us to think in new ways about how computers could be used in daily life. Face to face communication is a real-time process operating at a time scale of less than a second. In this paper we present progress on a perceptual primitive to automatically detect frontal faces in the video stream and code them with respect to 7 dimensions in real time: neutral, anger, disgust, fear, joy, sadness, surprise. The face finder employs a cascade of feature detectors trained with boosting techniques [13, 2]. The expression recognizer employs a novel combination of Adaboost and SVM's. The generalization performance to new subjects for a 7-way forced choice was 93.3% and 97% correct on two publicly available datasets. The outputs of the classifier change smoothly as a function of time, providing a potentially valuable representation to code facial expression dynamics in a fully automatic and unobtrusive manner. The system was deployed and evaluated for measuring spontaneous facial expressions in the field in an application for automatic assessment of human-robot interaction.

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