Robot Gaze Behaviors in Human-to-Robot Handovers
Robot Gaze Behaviors in Human-to-Robot Handovers
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DOI：
10.1109/lra.2020.3015692
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Hoffman, Guy
中科院分区：
文献类型：
--
作者：
Kshirsagar, Alap;Lim, Melanie;Hoffman, Guy
我们提出了两项研究的结果，调查了机器人从人类那里接收物体的凝视行为。机器人凝视是人-机器人交接过程中重要的非语言行为，但以往的研究只将机器人作为给予者进行研究。通过对人-人交接的逐帧视频分析，我们确定了四种接受者的凝视行为：凝视给予者的手，凝视他们的脸，以及两种脸-手过渡凝视。我们在一个配有拟人化头部的机械臂上实现了这些行为。在研究1中，参与者比较了展示这四种凝视行为的从人类演员到机器人的交接视频。我们发现，当机器人将其头部凝视从送礼者的脸转移到送礼者的手时，参与者认为这种交接更讨人喜欢，更拟人化，更能传达时间（p < 0.0001）。在研究2中，参与者与机器人进行了物理上的物体移交，并对机器人的四种凝视行为中的每一种进行了评估。我们发现凝视面部的行为对最讨人喜欢（p = 0.01）和拟人化（p = 0.03）行为的影响较弱。与之前的研究相反，我们没有发现任何证据表明机器人的凝视会影响人类交接的开始时间。
We present the results of two studies investigating gaze behaviors of a robot receiving an object from a human. Robot gaze is an important nonverbal behavior during human-robot handovers, yet prior work has only studied robots as givers. From a frame-by-frame video analysis of human-human handovers, we identified four receiver gaze behaviors: gazing at the giver's hand, gazing at their face, and two kinds of face-hand transition gazes. We implemented these behaviors on a robot arm equipped with an anthropomorphic head. In Study 1, participants compared videos of a handover from a human actor to a robot exhibiting these four gaze behaviors. We found that when the robot transitions its head gaze from the giver's face to the giver's hand, participants consider the handover to be more likable, anthropomorphic, and communicative of timing (p < 0.0001). In Study 2, participants physically performed object handovers with the robot and rated their experiences of the handovers for each of the four gaze behaviors of the robot. We found weaker effects with face gaze rated the most likable (p = 0.01) and anthropomorphic (p = 0.03) behavior. In contrast to previous studies, we found no evidence that the robot's gaze affected the start time of the human's handover.