Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation
Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation
复制标题
通过运动进行水下机器人与人类的通信：实施和全环人机界面评估
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Owen Queeglay
中科院分区：
文献类型：
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作者：
Michael Fulton;Muntaqim Mehtaz;Junaed Sattar;Owen Queeglay
—自主水下航行器（AUV）在支持人机交互的自然通信模式方面长期以来落后于其他类型的机器人。由于环境的限制，大多数AUV使用数字显示器或上部人机回路通信作为其主要或唯一的通信载体。机器人与人类通信的自然方法（例如机器人“手势”）已经被提出，但从未在非模拟 AUV 上进行评估。在本文中，我们增强、实现和评估了 AUV 的机器人与人类通信系统，称为机器人运动通信 (RCVM)，该系统利用显式运动短语（运动素）与潜水伙伴进行通信。我们提出了一项小型试点研究，表明我们的实施在现场相当有效，随后进行了一项大规模研究，将我们的 RCVM 实施与三个基线系统的沟通有效性进行了比较。我们的研究结果将 RCVM 确立为一种有效的水下机器人与人类通信方法，并揭示了与更传统的通信向量在不同视点和信息负载类型下如何准确实现通信的差异。
—Autonomous underwater vehicles (AUVs) have long lagged behind other types of robots in supporting natural communication modes for human-robot interaction. Due to the limitations of the environment, most AUVs use digital displays or topside human-in-the-loop communications as their primary or only communication vectors. Natural methods for robot-to-human communication such as robot “gestures” have been proposed, but never evaluated on non-simulated AUVs. In this paper, we enhance, implement and evaluate a robot-to-human communication system for AUVs called Robot Communication Via Motion (RCVM), which utilizes explicit motion phrases (kinemes) to communicate with a dive partner. We present a small pilot study that shows our implementation to be reasonably effec- tive in person followed by a large-population study, comparing the communication effectiveness of our RCVM implementation to three baseline systems. Our results establish RCVM as an effective method of robot-to-human communication underwater and reveal the differences with more traditional communication vectors in how accurately communication is achieved at different viewpoints and types of information payloads.
机器人对人类教师的非语言反馈
DOI：
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发表时间：
2019
期刊：
Conference on Robot Learning (CoRL
影响因子：
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作者：
Huang, I;Pandya, R;Dragan, A.D.
通讯作者：
Dragan, A.D.
影响因子：
2.9
作者：
Wynn, Russell B.;Huvenne, Veerle A. I.;Hunt, James E.
通讯作者：
Hunt, James E.