Expressive Robot Motion Timing
Expressive Robot Motion Timing
复制标题
富有表现力的机器人动作计时
DOI：
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复制
发表时间：
2017
期刊：
影响因子：
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通讯作者：
A. Dragan
中科院分区：
文献类型：
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作者：
Allan Zhou;Dylan Hadfield;Anusha Nagabandi;A. Dragan
我们的目标是使机器人能够以一种有目的地表达其内部状态的方式来计时它们的运动，使它们对人们更透明。我们首先研究运动定时能够表达的状态类型，重点关注机器人操作，并在系统地改变定时的同时保持路径恒定。我们发现，用户会很自然地选择机器人的某些属性（比如自信）、运动（比如自然度）或任务（比如机器人携带的物体的重量）。然后，我们进行了一个假设驱动的实验，以梳理出这些影响的方向和程度，并利用我们的发现来开发候选数学模型，以说明用户如何从时间中做出这些推断。我们发现模型和真实用户数据之间存在很强的相关性，这表明机器人可以利用这些模型来自主优化其运动的时间以表达。
Our goal is to enable robots to time their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by investigating what types of states motion timing is capable of expressing, focusing on robot manipulation and keeping the path constant while systematically varying the timing. We find that users naturally pick up on certain properties of the robot (like confidence), of the motion (like naturalness), or of the task (like the weight of the object that the robot is carrying). We then conduct a hypothesis-driven experiment to tease out the directions and magnitudes of these effects, and use our findings to develop candidate mathematical models for how users make these inferences from the timing. We find a strong correlation between the models and real user data, suggesting that robots can leverage these models to autonomously optimize the timing of their motion to be expressive.