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检索条件"机构=Center for Intelligent and Interactive Robotics"

共 88 条记录，以下是1-10 订阅

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I Am Relieved to Have You: Exploring the Effective Robot Type to Mitigate Users Negative Emotions 15th

I Am Relieved to Have You: Exploring the Effective Robot Typ...

引用

15th International Conference on Social robotics, ICSR 2023

作者： Kang, Dahyun Kwak, Sonya S. Center for Intelligent and Interactive Robotics KIST Seoul02792 Korea Republic of

ISBN: (纸本)9789819987177

In order to find more acceptable robot that can effectively alleviate negative emotions of users, we investigated users’ perception of robots and their emotional responses. To achieve this research objective, we conducted an experiment involving 68 participants across six conditions. The within factor was the robot type including a product-like robot and a human-like robot, and a human as a baseline, and the between factor was the emotion type including primary emotion – sadness – and secondary emotion – embarrassment –. The findings of the study revealed that there was no significant difference in the degree of user sadness depending on the type of robot used. However, the human partner was the greatest in comforting the user experiencing sadness, followed by the human-like robot, while the product-like robot was the least effective in providing comfort. On the other hand, when it came to secondary emotions like embarrassment, participants felt embarrassed the most when assisted by a human. However, there was no significant difference in the degree of mitigating embarrassment between the two types of robots. Furthermore, in terms of service evaluation, both robots received more positive ratings than humans in the situations where users felt embarrassed. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Human robot interaction

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Exploring Response Strategies of Robotized Products in Problematic Situations: Analysis of Apology and Risk Communication Strategies 15th

Exploring Response Strategies of Robotized Products in Probl...

引用

15th International Conference on Social robotics, ICSR 2023

作者： Kim, SangMin Choi, JongSuk Kwak, Sonya S. Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of

ISBN: (纸本)9789819987177

As the use of robotized products becomes more prevalent in real-world settings, users are confronted with unforeseen problematic situations. The response strategy of a robotized product can have a significant impact on mitigating negative perceptions of the product resulting from problematic situations. In this study, we introduce apology and risk communication strategies as potential response strategies for robotized products and explore their impact on user evaluations or attraction through experimental research. Our findings indicate that when a problem originates from the robotized product itself, the use of an apology strategy and an accommodative risk communication strategy can enhance users’ task attraction to the product, but do not affect their evaluation of the robot and social attraction to it. Conversely, when the problem is not caused by the robotized product, the use of a defensive risk communication strategy is associated with higher robot evaluation and greater user attraction compared to the use of an accommodative strategy. This study demonstrates that response strategies in problematic situations that people expect for robotized products are different from those for humans. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Risk assessment

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Dimensionally Homogeneous Jacobian Using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators 23

Dimensionally Homogeneous Jacobian Using Extended Selection ...

引用

23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Nigatu, Hassen Kim, Doik Korea Institute of Science and Technology Center for Intelligent & Interactive Robotics Research Seoul02792 Korea Republic of

ISBN: (纸本)9788993215274

This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely on performance indices obtained from the Jacobian matrix. However, when manipulators exhibit mixed translational and rotational freedoms, the conventional Jacobian's inconsistency of units lead to unbalanced optimal result. Addressing this issue, a point-based dimensionally homogeneous Jacobian has appeared as a prominent solution. However, existing point-based approaches for formulating dimensionally homogeneous Jacobian are applicable to a limited variety of parallel manipulators. Moreover, they are complicated and less intuitive. This paper introduces an extended selection matrix that combines component velocities from different points to describe the entire motion of moving plate. This proposed approach enables us to formulate an intuitive point-based, dimensionally homogeneous Jacobian, which can be applied to a wide variety of constrained parallel manipulators. To prove the validity of proposed method, a numerical example is provided utilizing a four-degree-of-freedom parallel manipulator. © 2023 ICROS.

关键词： Manipulators

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Simultaneous Tracking and Balancing Control of Two-Wheeled Inverted Pendulum with Roll-joint using Dynamic Variance MPPI 23

Simultaneous Tracking and Balancing Control of Two-Wheeled I...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Kim, Taehyun Jeon, Jechan Lim, Myo-Taeg Lee, Yisoo Oh, Yonghwan The center for Intelligent Interactive Robotics Seoul136-791 Korea Republic of Korea University School of Electrical Engineering Seoul02841 Korea Republic of

ISBN: (纸本)9798350373578

The Two-Wheeled Inverted Pendulum with Rolljoint (TWIP-R) model and Dynamic Variance Model Predictive Path Integral (DV-MPPI) controller are proposed to simultaneously solve tracking and balancing problems. The TWIP-R model's additional roll joint allows it to better handle centrifugal forces, offering superior performance in high-speed curved driving compared to the traditional TWIP model. Similar to the TWIP model, the TWIP-R model also cannot achieve position tracking without additional kinematic control due to the linearization process. Therefore, controlling the TWIP-R can be achieved using Model Predictive Path Integral (MPPI), which is capable of handling nonlinear control. However, MPPI often suffers from chattering issues due to the use of Gaussian random noise, leading to control instability. DV-MPPI controller dynamically adjusts random noise variance based on real-time state errors, reducing chattering and improving stability. By controlling the TWIP-R using DV-MPPI, we simultaneously solved the tracking and balancing problems without any additional kinematic tracking control, achieving smooth output. Experimental results show our approach is effective, demonstrating the TWIP-R model's superior performance in balancing and tracking and the benefits of the DV-MPPI. © 2024 IEEE.

关键词： Inverted pendulum

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User Perception of the Robot’s Error in Heterogeneous Multi-robot System Performing Sequential Cooperative Task 15th

User Perception of the Robot’s Error in Heterogeneous Multi...

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15th International Conference on Social robotics, ICSR 2023

作者： Shin, Soyeon Kwon, Youngsun Lim, Yoonseob Kwak, Sonya S. LG Electronics Seoul Korea Republic of Electronics and Telecommunications Research Institute Daejeon34129 Korea Republic of Center for Intelligent and Interactive Robotics KIST Seoul02792 Korea Republic of

ISBN: (纸本)9789819987177

This study investigates how the user’s mental model of an error in a heterogeneous multi-robot system (MRS) is formed while executing a sequential cooperative task. We applied a heterogeneous MRS consisting of a delivery robot and an information robot to the medicine delivery service in the infectious disease ward where the separation of the contaminated area and non-contaminated area is necessary to avoid infections. In this study, we define the robot which initiates the service in a sequential task as an initiating robot and the robot which executes the subsequent task following after the initiating robot as the follow-up robot. We examine how the initiating robot’s error would affect the user perception of the follow-up robot’s error and how the perceived error influences competence and trust in the follow-up robot. As a result, we found that when two robots cooperate sequentially, the user's evaluation of the follow-up robot’s error can be influenced by the initial robot’s error. In addition, we discovered that the trust and competence of the follow-up robot can be impacted by the initiating robot in heterogeneous MRS performing sequential cooperative tasks. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Errors

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Who's on Firstƒ The Impact of the Proactive Interaction on User Acceptance of the Robotized Object 31

Who's on Firstƒ The Impact of the Proactive Interaction on ...

引用

31st IEEE International Conference on Robot and Human interactive Communication, RO-MAN 2022

作者： Kim, Sangmin Kang, Dahyun Choi, Jongsuk Kwak, Sonya S. Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of

ISBN: (纸本)9781728188591

Due to advances in technology, various types of existing products can be robotized. The interaction design between the robotized objects which are the robotized products and users has become an emerging issue since how to interact affects user acceptance of the new products. Because the robots can perceive, recognize and assist the users, robotized objects can assist users by reading the context and guessing their intentions in advance, or can assist users in response to users' clear requests. In order to explore the effective interaction strategy of robotized object, we conduct 2 × 2 mixed-participant experiment. As a result, participants were more surprised by and felt positive emotion toward robotized objects with proactive interaction than with reactive interaction. In addition, the robotized object with proactive interaction was evaluated as more intelligent and easier to use than that with reactive interaction. The influence of interaction strategies on satisfaction of robotized objects was mediated by surprise and positive emotions. Furthermore, the robotized object with proactive interaction was evaluated as more positive when the user's intention was expressed only by action cue than when it was expressed by both verbal cue and action cue. © 2022 IEEE.

关键词： Product design

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Telepresence Robot for Isolated Patients in the COVID-19 Pandemic: Effects of Socio-relationship and Telecommunication Device Types on Patients’ Acceptance of Robots 14th

Telepresence Robot for Isolated Patients in the COVID-19 Pan...

引用

14th International Conference on Social robotics, ICSR 2022

作者： Shin, Soyeon Kang, Dahyun Kwak, Sonya S. Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of

ISBN: (纸本)9783031246692

Telecommunication devices can help mitigate the spread of the COVID-19 virus among the patients quarantined in hospitals. In contrast to the conventional telecommunication devices, a telepresence robot can deliver tangible communication cues from a remote sender to a receiver that vary according to level of interaction modalities. In the context of the COVID-19 pandemic, telecommunication interactants can be divided into two categories based on their socio-relationships. The types include those engaged in social-oriented relationships such as that between patients and families or acquaintances, and task-oriented relationships such as those between patients and doctors or nurses. We hypothesize that the types of telecommunication device used and socio-relationship would be factors affecting the COVID-19 patients’ telecommunication experiences and acceptance of telepresence robots. We conducted a user study comparing three types of telecommunication devices namely floor-based robot versus desk-based robot versus tablet with the aforementioned two types of socio-relationships. The results indicated that the participants preferred telecommunication service in a social-oriented relationship to a task-oriented relationship. A mediation analysis revealed that social presence, competency, and familiarity mediates the effects of socio-relationship type on the satisfaction of the telecommunication service. Based on the socio-relationship type, different tendencies on the effect of telecommunication device types on service evaluation were observed. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： COVID-19

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Investigating Behavioral and Cognitive Changes Induced by Autonomous Delivery Robots in Incidentally Copresent Persons*

Investigating Behavioral and Cognitive Changes Induced by Au...

引用

IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Nayoung Kim Sonya S. Kwak Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Autonomous delivery robots (ADRs) encounter incidentally copresent persons (InCoPs) during their delivery journeys. Despite the potential for ADRs' behavior to influence the behavior and cognition of InCoPs, there is limited research on the interaction between ADRs and InCoPs. Therefore, in this study, we conducted a within-participants experiment (N=30) with a 3 (confederate types: humans vs. high anthropomorphism robots vs. low anthropomorphism robots) x 2 (jaywalking status: jaywalking vs. not jaywalking) design to investigate the impact of ADRs on InCoPs’ behavioral and cognitive changes induced by the social influence of ADRs. During the experiment, participants watched a video depicting interactions between ADRs and InCoPs at a crosswalk. Each participant was immersed in the video as an InCoP, instructed to make jaywalking decisions, and subsequently completed questionnaires. Results indicated that, behaviorally, participants displayed similar levels of conformity towards jaywalking behaviors across both the human and robot confederates. Cognitively, there were significant differences in morality based on the confederate types. Additionally, robots that refrained from jaywalking received more positive ratings in terms of morality and intention to use. This study confirms that ADRs have the capacity to induce conformity similar to humans and that the ethical behavior of ADRs can positively influence InCoPs' impressions and intention to use toward ADRs.

关键词： Ethics Cognition Anthropomorphism Robots intelligent robots

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Multimodal Personality Prediction: A Real-Time Recognition System for Social Robots with Data Acquisition

Multimodal Personality Prediction: A Real-Time Recognition S...

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International Conference on Ubiquitous Robots (UR)

作者： Hyeonuk Bhin Yoonseob Lim Jongsuk Choi Center for Intelligent and Interactive Robotics Research Korea Institute of Science and Technology Republic of Korea

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

In this paper, we propose a new real-time recognition system that predicts the Big Five personality traits - extroversion, agreeableness, conscientiousness, neuroticism and openness. This system continuously evaluates these traits over time and across various context. By treating each moment individually to predict personality scores, we have implemented and compared various multimodal approaches to enhance the accuracy of these predictions. Our framework has shown the capability to obtain robust personality predictions extrapolated from complex information. Additionally, we have successfully implemented this framework in a real robot, confirming its potential applicability in the realm of social robotics. Based on these research findings, our personality prediction model is expected to operate stably in a wide range of environments, contributing to social interactions and applications.

关键词： Analytical models Social robots Data acquisition Predictive models Big Data Robot sensing systems Real-time systems

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Design and Analysis of a Real-Time Control Architecture Towards Software-Defined EtherCAT Devices 49

Design and Analysis of a Real-Time Control Architecture Towa...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Delgado, Raimarius Oh, Sang-Rok You, Bum-Jae Choi, Byoung Wook Ihn, Yong Seok Korea Institute of Science and Technology Center for Intelligent & Interactive Robotics Seoul Korea Republic of Seoul National University of Science and Technology Dept. of Electrical and Information Engineering Seoul Korea Republic of

ISBN: (纸本)9798350331820

EtherCAT has been widely adopted in industrial automation and motion control owing to its real-time performance and flexible topology. However, an EtherCAT network with devices from different vendors requires extensive software modification which eventually increases development costs and effort. To address this issue, this paper presents a real-time control architecture focusing on a software-defined approach to easily reconfigure EtherCAT devices with minimal user intervention. This is achieved by simplifying the integration of EtherCAT slaves while exposing required parameters in a configuration interface through an API based on open-source EtherCAT master. We also provide a real-time variation of the POSIX library for a hard real-time multi-tasking environment considering task synchronization. Moreover, the real-time publish-subscribe protocol is also utilized to ensure seamless communication with devices outside of the EtherCAT network. To validate feasibility, practical example involving control of multi-axis robots and real-time performance analysis has been conducted. © 2023 IEEE.

关键词： Real time control

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