Conference Paper

Field trial for simultaneous teleoperation of mobile social robots.

DOI: 10.1145/1514095.1514123 Conference: Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction, HRI 2009, La Jolla, California, USA, March 9-13, 2009
Source: DBLP

ABSTRACT Simultaneous teleoperation of mobile, social robots presents unique challenges, combining the real-time demands of conversa- tion with the prioritized scheduling of navigational tasks. We have developed a system in which a single operator can effec- tively control four mobile robots performing both conversation and navigation. We compare the teleoperation requirements for mobile, social robots with those of traditional robot systems, and we identify metrics for evaluating task difficulty and operator performance for teleoperation of mobile social robots. As a proof of concept, we present an integrated priority model combining real-time conversational demands and non-real-time navigational demands for operator attention, and in a pioneering study, we apply the model and metrics in a demonstration of our multi-robot system through real-world field trials in a shopping arcade.

  • [Show abstract] [Hide abstract]
    ABSTRACT: Assistive robots can be perceived in two main ways: tools or partners. In past research, assistive robots that offer physical assistance for the elderly are often designed in the context of a tool metaphor. This paper investigates the effect of two design considerations for assistive robots in a partner metaphor: conversation and robot-type. The former factor is concerned with whether robots should converse with people even if the conversation is not germane for completing the task. The latter factor is concerned with whether people prefer a communication/function oriented design for assistive robots. To test these design considerations, we selected a shopping assistance situation where a robot carries a shopping basket for elderly people, which is one typical scenario used for assistive robots. A field experiment was conducted in a real supermarket in Japan where 24 elderly participants shopped with robots. The experimental results revealed that they prefer a conversational humanoid as a shopping assistant partner.
    Proceedings of the 6th International Conference on Human Robot Interaction, HRI 2011, Lausanne, Switzerland, March 6-9, 2011; 01/2011
  • [Show abstract] [Hide abstract]
    ABSTRACT: We developed a networked robot system in which ubiquitous sensors support robot sensing and a human operator processes the robot’s decisions during interaction. To achieve semi-autonomous operation for a communication robot functioning in real environments, we developed an operator-requesting mechanism that enables the robot to detect situations that it cannot handle autonomously. Therefore, a human operator helps by assuming control with minimum effort. The robot system consists of a humanoid robot, floor sensors, cameras, and a sound-level meter. For helping people in real environments, we implemented such basic communicative behaviors as greetings and route guidance in the robot and conducted a field trial at a train station to investigate the robot system’s effectiveness. The results attest to the high acceptability of the robot system in a public space and also show that the operator-requesting mechanism correctly requested help in 84.7% of the necessary situations; the operator only had to control 25% of the experiment time in the semi-autonomous mode with a robot system that successfully guided 68% of the visitors.
    International Journal of Social Robotics 01/2011; 3:27-40.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: 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.
    Human-Robot Interaction (HRI), 2013 8th ACM/IEEE International Conference on; 01/2013

Full-text (2 Sources)

Available from
May 22, 2014