Toward combining autonomy and interactivity for social robots

Mohammad, Yasser; Nishida, Toyoaki

doi:10.1007/s00146-009-0196-3

Cited by 27 publications

(14 citation statements)

References 9 publications

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“…The EICA architecture is based on two theoretical hypotheses: The Historical Embodiment Hypothesis which can be stated as the precondition level of embodiment for achieving intelligent autonomous real world agents is the historical embodiment level as defined in [8], and the Intention through Interaction Hypothesis which can be stated as: Intention can be best modeled not as a fixed hidden variable of unknown value, but as a dynamically evolving function. The details and theoretical arguments supporting these hypotheses and the general design of EICA can be found in [7]. EICA allows multiple abstractions of the architecture to co-exist in the same agent.…”

Section: The Architecturementioning

confidence: 95%

“…Usually (but not necessarily) high level LoSs are built using the lower LoSs as their building blocks. Currently there are two LoSs available for EICA namely: L 0 EICA (the lowest LoS), and L i EICA (a simulation theoretic LoS for humanoid robots [7]). This paper utilizes the L 0 EICA LoS.…”

Section: The Architecturementioning

confidence: 99%

“…Gaze control is only one of the faculties required to achieve natural behavior in face to face interaction. In this work we use the Embodied Interactive Control Architecture (EICA) [7] designed specifically to provide the required flexibility in managing the relation between deliberation and reaction for HRI applications. Refer to [7] for the details of this architecture.…”

Section: Introductionmentioning

confidence: 99%

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Controlling gaze with an embodied interactive control architecture

Mohammad

Nishida

2009

Appl Intell

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Human-Robot Interaction (HRI) is a growing field of research that targets the development of robots which are easy to operate, more engaging and more entertaining. Natural human-like behavior is considered by many researchers as an important target of HRI. Research in Human-Human communications revealed that gaze control is one of the major interactive behaviors used by humans in close encounters. Human-like gaze control is then one of the important behaviors that a robot should have in order to provide natural interactions with human partners. To develop human-like natural gaze control that can integrate easily with other behaviors of the robot, a flexible robotic architecture is needed. Most robotic architectures available were developed with autonomous robots in mind. Although robots developed for HRI are usually autonomous, their autonomy is combined with interactivity, which adds more challenges on the design of the robotic architectures supporting them. This paper reports the development and evaluation of two gaze controllers using a new cross-platform robotic architecture for HRI applications called EICA (The Embodied Interactive Control Architecture), that was designed to meet those challenges emphasizing how low level attention focusing and action integration are implemented. Evaluation of the gaze controllers revealed human-like behavior in terms of mutual attention, gaze toward partner, and mutual gaze. The paper also reports a novel Floating Point Genetic Algorithm (FPGA) for learning the parameters of various processes of the gaze controller.

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Section: The Architecturementioning

confidence: 95%

Section: The Architecturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Controlling gaze with an embodied interactive control architecture

Mohammad

Nishida

2009

Appl Intell

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“…Due to lack of space the details of the EICA architecture will not be given here. For details refer to [8], [9], [5], [7] and [10].…”

Section: Robot Softwarementioning

confidence: 99%

“…For Human-Robot Interaction to proceed in a natural way, the robot must be able to understand the human's intention and to communicate its own internal state or intention to the human through a combined operation named mutual intention formation and maintenance [8] [5].…”

Section: Introductionmentioning

confidence: 99%

Getting feedback from a miniature robot

Mohammad

Nishida

2008

2008 International Conference on Information and Automation

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The HRI field of research has gained much attention recently because of the expected importance of well designed interaction modalities with social robots. To achieve natural interaction between the robot and the human, a feedback mechanism from the robot to the human needs to be designed that allows the robot to express its internal state to the human in a natural way. Verbal and nonverbal feedback from humanoid robots or humanoid robotic heads have been widely studied but there is little comparable research about the possible feedback mechanisms of non-humanoid and especially miniature robots. In this paper a comparison between using verbal feedback and motion cues is conducted. The results of the experiment showed that there is no significant difference in the task completion accuracy and time or in the feeling of naturalness between these two modalities and there is a statistically significant improvement when using any of them compared with the no-feedback (control) case. Moreover the subjects selected the motion cues feedback mechanism more frequently as the preferred feedback modality for them.

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Natural Human‐Robot Interaction

Mohammad¹

2017

The Wiley Handbook of Human Computer Interaction

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Toward combining autonomy and interactivity for social robots

Cited by 27 publications

References 9 publications

Controlling gaze with an embodied interactive control architecture

Controlling gaze with an embodied interactive control architecture

Getting feedback from a miniature robot

Natural Human‐Robot Interaction

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