Building Blocks for Human Robot Interaction

这项研究的目的是确定和开发基本的互动积木需要允许个人和公共机器人的快速和灵活的开发和部署。拟议的工作的重点是过渡性的相互作用，在协作活动的变化的线索进行沟通。这些线索表示协作流程所必需的过渡相关信息，例如：轮流/给予和角色变化（例如，领导者/追随者，指导者/受训者）。 该模型模拟了小型人类团队通过非语言提示管理交互转换的自然能力。 我的团队将提出和回答的指导性研究问题是：i）我们如何描述和分类允许与机器人代理成功合作的常见过渡交互？ii）与这些转换相关的双边“握手”线索是什么？iii）机器人和人如何在自然的、未经训练的（无接口/信号量）协作中最好地识别和传输这些提示？iv）什么样的控制方法可以让机器人成功地参与交互？v）我们如何衡量沟通的有效性和互动线索的检测-我们的基线是什么，我们能否确定关键指标，使我们能够与其他人进行疗效比较？以及vi）我们如何演示和基准测试这些人机通信方法。 这项工作为机器人助手在广泛的场景中自然融入和接受人类领域提供了基础。 我和我的学生将在快速发展的人机交互设计领域做出新的和根本性的贡献，该领域与人机交互，社交机器人，机电一体化和控制领域的工作交叉。 特别是，我们将有助于人类和机器人之间的过渡互动的理解和设计，并最终将我们的成果应用于制造业和医疗保健领域的衍生机器人研究项目。

The aim of this research is to identify and develop fundamental interaction building blocks needed to permit the rapid and flexible development and deployment of personal and public robotics. The focus of the proposed work is on transitional interactions where cues about changes in collaborative activity are communicated. These cues signal transition related information essential to the collaboration flow such as: turn taking/giving and role changes (e.g., leader/follower, instructor/trainee). This model emulates the natural ability of small human teams to manage interaction transitions via non-verbal cues. The guiding research questions my group will ask and answer are: i) How do we describe and taxonomize the common transitional interactions that permit successful collaborations with robotic agents? ii) What are the bilateral, "handshaking" cues related to these transitions? iii) How can robots and people best recognize and transmit these cues in natural, untrained (interface/semaphore free) collaborations? iv) What control methods allow the robot to successfully participate in the interaction? v) How do we measure the effectiveness of communication and detection of interaction cues - what are our baselines, and can we identify key metrics allow us to compare efficacy with others? and vi) How do we demonstrate and benchmark these human-robot communication methods. This work provides a basis for the natural integration and acceptance of robotic assistants into the human sphere in a wide range of scenarios. My students and I will make novel and fundamental contributions in the fast growing field of human-robot interaction design, which intersects work in human computer interaction, social robotics, mechatronics and controls. In particular, we will contribute to the understanding and design of transitional interactions between humans and robots and ultimately apply our results to spin-off robotics research projects in manufacturing and healthcare.