Satoru Satake
Takayuki Kanda
Dylan F. Glas
ABSTRACT
This paper proposes a model of approach behavior with which a robot can initiate conversation with people who are walking. We developed the model by learning from the failures in a simplistic approach behavior used in a real shopping mall. Sometimes people were unaware of the robot's presence, even when it spoke to them. Sometimes, people were not sure whether the robot was really trying to start a conversation, and they did not start talking with it even though they displayed interest. To prevent such failures, our model includes the following functions: predicting the walking behavior of people, choosing a target person, planning its approaching path, and nonverbally indicating its intention to initiate a conversation. The approach model was implemented and used in a real shopping mall. The field trial demonstrated that our model significantly improves the robot's performance in initiating conversations.
- A. Kendon, Features of the structural analysis of human communicational behavior. In Walburga von Raffler Engel, ed., Aspects of Nonverbal Communication. 1980.Google Scholar
- A. Scheidig, S. Mueller, C. Martin, and H.-M. Gross, Generating Persons Movement Trajectories on a Mobile Robot, IEEE Int. Workshop on Robot and Human Interactive Communication (RoMan 2006), pp. 747--752, 2006.Google Scholar
- B. Fransen et al., Using Vision, Acoustics, and Natural Language for Disambiguation, In Proc. Int. Conf. on Humanrobot interaction (HRI2007), pp. 73--80, 2007. Google ScholarDigital Library
- B. Jensen et al., The interactive autonomous mobile system RoboX, In Proc. Int. Conf. Intelligent Robots and Systems (IROS2002), 2002.Google ScholarCross Ref
- D. Glas et al., Laser Tracking of Human Body Motion Using Adaptive Shape Modeling, In Proc. Int. Conf. Intelligent Robots and Systems (IROS2007), pp. 602--608, 2007.Google Scholar
- E. A. Sisbot et al., Implementing a Human-Aware Robot System, IEEE Int. Workshop on Robot and Human Interactive Communication, pp. 727--732, 2006.Google Scholar
- E. A. Sisbot et al., Navigation in the Presence of Humans, IEEE-RAS International Conference on Humanoid Robots, 2005Google ScholarCross Ref
- E. Goffman, Behavior in public place: Notes on the Social Organization of Gatherings, 1963.Google Scholar
- E. Pacchierotti, H. I. Christensen, and P. Jensfelt, Design of an office guide robot for social interaction studies, In Proc. Int. Conf. Intelligent Robots and System, pp. 4965--4970, 2006.Google ScholarCross Ref
- E. T. Hall, The Hidden Dimension, 1966.Google Scholar
- F. Tanaka et al., Socialization between toddlers and robots at an early childhood education center, Proceedings of the National Academy of Sciences of the USA, 104(46), pp. 17954--17958, 2007.Google ScholarCross Ref
- G. Hoffman and C. Breazeal, Effects of Anticipatory Action on Human-Robot Teamwork, In Proc. Int. Conf. on Human-Robot Interaction (HRI2007), pp. 1--8, 2007. Google ScholarDigital Library
- J. Fogarty, S. E. Hudson, C. G. Atkeson, D. Avrahami, J. Forlizzi, S. Kiesler, J. C. Lee, and J. Yang, Predicting Human Interruptibility with Sensors, ACM Trans. on Computer-Human Interaction, 12(1), pp. 119--146, 2005. Google ScholarDigital Library
- J. Schulte, C. Rosenberg, and S. Thrun, Spontaneous, short-term interaction with mobile robots, IEEE Int. Conf. on Robotics and Automation (ICRA99), pp. 658--663, 1999.Google ScholarCross Ref
- K. Dautenhahn et al., How may I serve you?: a robot companion approaching a seated person in a helping context, In Proc. Int. Conf. on Human-robot interaction (HRI2006), pp. 172--179, 2006. Google ScholarDigital Library
- K. Hayashi, D. Sakamoto, T. Kanda, M. Shiomi, S. Koizumi, H. Ishiguro, T. Ogasawara, and N. Hagita, Humanoid robots as a passive-social medium - a field experiment at a train station -, ACM/IEEE 2nd Annual Conference on Human-Robot Interaction (HRI2007), pp. 137--144, 2007. Google ScholarDigital Library
- K. Wada, T. Shibata, T. Saito, and K. Tanie, Analysis of Factors that Bring Mental Effects to Elderly People in Robot Assisted Activity, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002.Google ScholarCross Ref
- K. Yamazaki et al., Prior-to-request and request behaviors within elderly day care: Implications for developing service robots for use in multiparty settings, Proceedings of the Tenth European Conference on Computer Supported Cooperative Work, pp. 61--78, 2007.Google ScholarCross Ref
- M. Bennewitz, W. Burgard, G. Cielniak, and S. Thrun, Learning Motion Patterns of People for Compliant Robot Motion, Int. J. of Robotics Research, 24(1), pp. 31--48, 2005.Google ScholarCross Ref
- M. Finke, Kheng Lee Koay, and Kerstin Dautenhahn, Hey, I'm over here - How can a robot attract people's attention, IEEE Int. Workshop on Robot and Human Interactive Communication (RoMan 2005), pp. 7 -- 12, 2005.Google ScholarCross Ref
- M. L. Walters, D. S. Syrdal, K. L. Koay, K. Dautenhahn, R. te Boekhorst, Human Approach Distances to a Mechanical-Looking Robot with Different Robot Voice Styles, IEEE Int. Symposium on Robot and Human Interactive Communication (RoMan 2008), pp. 707--712, 2008.Google ScholarCross Ref
- M. P. Michalowski, S. Sabanovic, and R. Simmons, A Spatial Model of Engagement for a Social Robot, IEEE International Workshop on Advanced Motion Control (AMC'06), pp. 762--767, 2006.Google ScholarCross Ref
- M. Shiomi, T. Kanda, H. Ishiguro, and N. Hagita, Interactive Humanoid Robots for a Science Museum, IEEE Intelligent Systems, vol. 22, no. 2, pp. 25--32, 2007. Google ScholarDigital Library
- M. Yamamoto and T. Watanabe, Timing Control Effects of Utterance to Communicative Actions on Embodied Interaction with a Robot, IEEE Int. Workshop on Robot and Human Interactive Communication, pp. 467--472, 2004.Google ScholarCross Ref
- N. Bergström, T. Kanda, T. Miyashita, H. Ishiguro, and N. Hagita, Modeling of Natural Human-Robot Encounters, Int. Conf. Intelligent Robots and Systems (IROS2008), 2008.Google ScholarCross Ref
- R. Gockley, J. Forlizzi, and R. Simmons, Natural person following behavior for social robots, In Proc. Int. Conf. on Human-robot interaction (HRI2007), pp. 17--24, 2007. Google ScholarDigital Library
- R. Gockley et al., Designing robots for long-term social interaction, In Proc. Int. Conf. Intelligent Robots and Systems (IROS2006), pp. 1338--1343, 2006.Google Scholar
- R. Siegwart et al., Robox at expo.02: A Large Scale Installation of Personal Robots, Robotics and Autonomous Systems, 42(3), pp. 203--222, 2003.Google ScholarCross Ref
- S. Kagami, S. Thompson, Y. Nishida, T. Enomoto, and T. Matsui. Home robot service by ceiling ultrasonic locator and microphone array, IEEE International Conference on Robotics and Automation (ICRA2006), pp. 3171--3176, 2006.Google ScholarCross Ref
- S. Li, B. Wrede, and G. Sagerer, A dialog system for comparative user studies on robot verbal behavior, IEEE Int. Symposium on Robot and Human Interactive Communication (RoMan 2006), pp.129--134, 2006.Google ScholarCross Ref
- T. Kanda, D. F. Glas, M. Shiomi, H. Ishiguro, and N. Hagita, Who will be the customer?: A social robot that anticipates people's behavior from their trajectories, Int. Conference on Ubiquitous Computing (UbiComp 2008), 2008. Google ScholarDigital Library
- T. Kanda et al., Interactive Robots as Social Partners and Peer Tutors for Children: A Field Trial, Human Computer Interaction, 19(1-2), pp. 61--84, 2004. Google ScholarDigital Library
- T. Tasaki, S. Matsumoto, H. Ohba, M. Toda, K. Komatani, T. Ogata, and H. G. Okuno, Dynamic Communication of Humanoid Robot with multiple People Based on Interaction Distance, IEEE Int. Workshop on Robot and Human Interactive Communication (RoMan 2004), pp.71--76, 2004.Google ScholarCross Ref
- W. Burgard et al., The interactive museum tour-guide robot, Proc. of National Conference on Artificial Intelligence, pp. 11--18, 1998. Google ScholarDigital Library
- X. Shao et al., Detection and tracking of multiple pedestrians by using laser range scanners, Int. Conf. on Intelligent Robots and Systems (IROS 2007), pp. 2174--2179, 2007.Google Scholar
Index Terms
- How to approach humans?: strategies for social robots to initiate interaction
Recommendations
Stop doing it!: approaching strategy for a robot to admonish pedestrians
HRI '19: Proceedings of the 14th ACM/IEEE International Conference on Human-Robot InteractionWe modeled a robot's approaching behavior for giving admonishment. We started by analyzing human behaviors. We conducted a data collection in which a guard approached others in two ways: 1) for admonishment, and 2) for a friendly purpose. We analyzed ...
Connecting Humans with Humans: Multimodal, Multilingual, Multiparty Mediation
ICMI '19: 2019 International Conference on Multimodal InteractionBehind much of my research work over 4 decades has been the simple observation that people like people and love interacting with other people more than they like interacting with machines. Technologies that truly support such social desires are more ...
Comments