Sarkar N. (ed.) Human-Robot Interaction

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Human-Robot Interaction

Edited by

Nilanjan Sarkar

I-Tech Education and Publishing

Published by I-Tec h Education and Publishing

I-Tech Education and Publishing

Vienna

Austria

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First published September 2007

Printed in Croatia

A catalogue record for this book is available from the Austrian Library.

Human-Robot Interaction, Edited by Nilanjan Sarkar

p. cm.

ISBN 978-3-902613-13-4

1. Human-Robot Interaction. 2. Applications. I. Nilanjan Sarkar

Preface

Human-Robot Interaction (HRI) has been an important research area during the

last decade. As robots have become increasingly more versatile, they have been

useful in a variety of applications where the robots and human are expected to in-

teract very closely. It has thus become necessary to clearly understand the nature

of human-robot interaction so that new tools and techniques can be developed to

allow human and robot to work together in a seamless, robust and natural manner.

Human-robot interaction research is diverse and covers a wide range of topics. All

aspects of human factors and robotics are within the purview of HRI research so

far as they provide insight into how to improve our understanding in developing

effective tools, protocols, and systems to enhance HRI. For example, a significant

research effort is being devoted to designing human-robot interface that makes it

easier for the people to interact with robots. Researchers are investigating how to

improve the current interfaces so that multiple users can interact with multiple ro-

bots simultaneously. There are ongoing efforts to understand how to effectively in-

corporate multi-modal interaction capabilities within HRI. The role of emotion in

HRI is also another important research area so that human and robot can under-

stand each other’s affective expressions. Developing suitable control architecture

that facilitates versatile human-robot teaming and collaboration is essential for

HRI. Such a control architecture proposes the basis for interaction and drives fur-

ther research into sensor development, communication modes and protocols, and

system development. Additionally, a large part of HRI research involves applying

and learning lessons from various human-robot applications.

It is neither possible nor is it our intention to cover every important work in this

important research field in one volume. HRI is an extremely active research field

where new and important work is being published at a fast pace. However, we be-

lieve that HRI as a research field has matured enough to merit a compilation of the

outstanding work in the field in the form of a book. This book, which presents out-

standing work from the leading HRI researchers covering a wide spectrum of top-

ics, is an effort to capture and present some of the important contributions in HRI

in one volume. I hope that this book will benefit both experts and novice and pro-

vide a thorough understanding of the exciting field of HRI.

Editor

Nilanjan Sarkar

Vanderbilt University

USA

VII

Contents

Preface V

1. Adaptive Personal Space for Humanizing Mobile Robots 001

Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe

and Keigo Watanabe

2. The Potential for Modeling Human-Robot Interaction with GOMS 021

Jill L. Drury, Jean Scholtz and David Kieras

3. Supporting Complex Robot Behaviors with Simple Interaction Tools 039

David J. Bruemmer, David I. Gertman, Curtis W. Nielsen,

Douglas A. Few and William D. Smart

4. Augmented Reality for Human-Robot Collaboration 065

Scott A. Green, Mark Billinghurst, XiaoQi Chen and J. Geoffrey Chase

5. Robots That Learn Language: A Developmental Approach to

Situated Human-Robot Conversations

095

Naoto Iwahashi

6. Recognizing Human Pose and Actions for Interactive Robots 119

Odest Chadwicke Jenkins, German Gonzalez Serrano and Matthew M. Loper

7. Development of Service Robot System With Multiple

Human User Interface

139

Songmin Jia and Kunikatsu Takase

8. Human-Robot Interface for end effectors 157

Marcin Kaczmarski

9. “From Saying to Doing” – Natural Language Interaction

with Artificial Agents and Robots

185

Christel Kemke

10. Can robots replace dogs? Comparison of temporal patterns

in dog-human and robot-human interactions

201

Andrea Kerepesi, Gudberg K. Jonsson, Enik Kubinyi and Ádam Miklosi

11. A Facial Expression Imitation System for the Primitive of

Intuitive Human-Robot Interaction

213

Do Hyoung Kim, Kwang Ho An, Yeon Geol Ryu and Myung Jin Chung

VIII

12. Evaluating Emotion Expressing Robots in Affective Space 235

Kolja Kuehnlenz, Stefan Sosnowski and Martin Buss

13. Cognitive Robotic Engine: Behavioral Perception Architecture

for Human-Robot Interaction

247

Sukhan Lee, Seung-Min Baek and Jangwon Lee

14. Contact Task by Force Feedback Teleoperation Under

Communication Time Delay

265

Masahiro Nohmi and Thomas Bock

15. What People Assume about Robots: Cross-Cultural Analysis

between Japan, Korea, and the USA

275

Tatsuya Nomura, Tomohiro Suzuki, Takayuki Kanda, Jeonghye Han,

Namin Shin, Jennifer Burke and Kensuke Kato

16. Posture and movement estimation based on reduced information.

Application to the context of FES-based control of lower-limbs.

289

Nacim Ramdani, Christine Azevedo-Coste, David Guiraud, Philippe Fraisse,

Rodolphe Heliot and Gael Pages

17. Intelligent Space as a Platform for Human Observation 309

Takeshi Sasaki and Hideki Hashimoto

18. Semiotics and Human-Robot Interaction 325

Joao Sequeira and M.Isabel Ribeiro

19. Effect of Robot and Screen Agent Recommendations on

Human Decision-Making

345

Kazuhiko Shinozawa and Junji Yamato

20. Collective Motion of Multi-Robot System based on Simple Dynamics 357

Ken Sugawara, Yoshinori Hayakawa, Tsuyoshi Mizuguchi and Masaki Sano

21. Modeling and Control of Piezoelectric Actuators for Active

Physiological Tremor Compensation

369

U-Xuan Tan, Win Tun Latt, Cheng Yap Shee, Cameron Riviere and Wei Tech Ang

22. Automatic Speech Recognition of Human-Symbiotic Robot EMIEW 395

Masahito Togami, Yasunari Obuchi and Akio Amano

23. Mixed-initiative multirobot control in USAR 405

Jijun Wang and Michael Lewis

24. Robotic Musicianship – Musical Interactions Between

Humans and Machines

423

Gil Weinberg

25. Possibilities of force based interaction with robot manipulators 445

Alexander Winkler and Jozef Suchy

26. Designing Simple and Effective Expression of Robots

Primitive Minds to a Human

469

Seiji Yamada and Takanori Komatsu

27. Hand Posture Segmentation, Recognition and Application

for Human-Robot Interaction

481

Xiaoming Yin and Ming Xie

28. Playing Games with Robots – A Method for Evaluating

Human-Robot Interaction

497

Min Xin and Ehud Sharlin