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.

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    ABSTRACT: This paper presents the modeling, implementation and validation of a human-robot system enabling a single operator to supervise multiple robots for social interactions with conversation and navigation. We developed a risk model for navigation, which can automatically tell when operation is necessary to enable safe navigation of unattended robots. We propose a utility model for evaluating the performance of interactions based on timings, and developed strategies and a planning algorithm to coordinate the tasks of the operator and robots for improving performance of the human-robot team. Finally, we conducted a field experiment in a shopping area using four robots for route-guiding services incorporating conversation and navigation to validate the effectiveness of our system.
    Transaction on Control and Mechanical Systems. 05/2014; 3(2):76-92.
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    ABSTRACT: The teleoperation of mobile social robots requires operators to understand facial gestures and other nonverbal communication from a person interacting with the robot. It is also critical for the operator to comprehend the surrounding environment in order to facilitate both navigation and human-robot interaction. Allowing the operator to control the robot's gaze direction can help the operator observe a person's nonverbal communication; however, manually actuating a gaze increases the operator's workload and conflicts with the use of the robot's camera for navigation. To address these problems, the authors developed a teleoperation system that combines automatic control of the robot's gaze and a 3-D graphical representation of the surrounding environment, such as location of items and configuration of a shop. A study where a robot plays the role of a shopkeeper was conducted to validate the effectiveness of the proposed gaze-control technique and control interface. It was demonstrated that the combination of automatic gaze control and representations of spatial relationships improved the quality of the robot's interaction with the customer.
    Systems, Man, and Cybernetics: Systems, IEEE Transactions on. 05/2013; 43(3):630-642.
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    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

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