Adapting robot behavior for human-robot interaction
Adapting robot behavior for human-robot interaction
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DOI：
10.1109/tro.2008.926867
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发表时间：
2008-08-01
影响因子：
7.8
通讯作者：
Hagita, Norihiro
中科院分区：
文献类型：
--
作者：
Mitsunaga, Noriaki;Smith, Christian;Hagita, Norihiro
人类潜意识地将自己的行为适应沟通伙伴，以使互动顺利进行。在人类机器人的互动中，不仅人类，而且机器人也有望适应其伴侣。因此，为了促进人类机器人的互动，机器人应该能够像人类一样读取人类的潜意识和不适信号并相应地调整其行为。但是，大多数先前的研究工作期望人类有意识地提供反馈，这可能会干扰互动的目的。我们提出了一种基于强化学习的适应机制，该机制从人类伴侣那里读取潜意识的身体信号，并使用此信息来调整人类机器人相互作用的相互作用距离，凝视速度以及运动速度和时间。该机制使用凝视机器人的脸部和人类运动距离作为潜意识的身体信号，表明人的舒适性和不适。已经对具有十种相互作用行为的人形机器人进行了一项试点研究。 12个受试者的研究结果表明，该提出的机制可以自主适应个人偏好。此外，还提供了详细的讨论和结论。
Human beings subconsciously adapt their behaviors to a communication partner in order to make interactions run smoothly. In human-robot interactions, not only the human but also the robot is expected to adapt to its partner. Thus, to facilitate human-robot interactions, a robot should be able to read subconscious comfort and discomfort signals from humans and adjust its behavior accordingly, just like a human would. However, most previous, research works expected the human to consciously give feedback, which might interfere with the aim of interaction. We propose an adaptation mechanism based on reinforcement learning that reads subconscious body signals from a human partner, and uses this information to adjust interaction distances, gaze meeting, and motion speed and timing in human-robot interactions. The mechanism uses gazing at the robot's face and human movement distance as subconscious body signals that indicate a human's comfort and discomfort. A pilot study with a humanoid robot that has ten interaction behaviors has been conducted. The study result of 12 subjects suggests that the proposed mechanism enables autonomous adaptation to individual preferences. Also, detailed discussion and conclusions are presented.