In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Robot Interfaces From Zero Experience</i> (RIZE). The provides set useful software tools for creation robot-oriented architectures and programming interfaces, as well modeling execution robot behaviors, with specific emphasis on social behaviors. Programming interfaces built...

People are increasingly encountering robots in public spaces. To increase the robustness of such in-the-wild robotic applications and to achieve their designed outcomes, existing research focuses on improving technical reliability identifying effective strategies prevent or recover from failures. However, human-robot interaction (HRI), a user's perception robot failure may not necessarily relate issues. We focus understanding users' behaviours interactions within context space. In our...

This study evaluates the performance and usability of Mixed Reality (MR), Virtual (VR), camera stream interfaces for remote error resolution tasks, such as correcting warehouse packaging errors. Specifically, we consider a scenario where robotic arm halts after detecting an error, requiring operator to intervene resolve it via pick-and-place actions. Twenty-one participants performed simulated tasks using each interface. A linear mixed model (LMM) analysis task time, scores (SUS), mental...

Rapid advances in digital technologies have allowed robots to become more autonomous and efficacious than ever before. Future developments robotics hold the potential transform human robot interactions. We can expect see performing a variety of functions public spaces. Possibilities exist for greatly improve quality our lives contribute positively safety, creative potential, atmosphere But as this trend develops, risk emerges transforming spaces social interactions undesirable ways. By...

Recent protocols and metrics for training evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, effectively compare published algorithms. Without a good evaluation protocol resulting algorithms may fail generalize, lack diversity in training. To address these gaps, this paper facilitates more comprehensive objective comparison crowd by proposing consistent set that accounts both...

Abstract Robots are an increasing presence in our public spaces. Accordingly, this paper, we make argument for the importance of understanding how they produce spatiality by developing three robotic logics: predictability, partitioning, and connection. We show bias towards orderly categories exists alongside processual accounts spatiality, forms anticipatory knowability that robots require play out contingent flow everyday human life, where knowledge emerges as move become engaged with...

In this article, we develop a framework for robotic autonomy as contingent. We do so with an account of series online research workshops that asked people to design and test robot behaviours public space scenario their choice, means surface discuss understandings robots. show how, manipulated robots in simulator, they came understand the capacities limits distinctive ways. Thinking these virtual encounters robots, argue contingency can be understood dependent on spatial context; unfolding...

For robots that collaborate alongside and work with humans, there is great interest in improving robot communication abilities to achieve engaging successful interactions. Successful task collaborations between humans often involve functional motions which implicit signals, such as affect, are embedded. Thus order improve a robot's capabilities, it necessary identify the different motor control strategies employ when generating signals. This paper details adaptation of an Inverse Optimal...

Human-Robot Interaction (HRI) user studies are challenging to evaluate and compare due a lack of standardization the infrastructure required implement each study. The experimental also makes it difficult systematically impact individual components (e.g., quality perception software) on overall system performance. This work proposes framework ease implementation reproducibility human-robot interaction studies. utilizes ROS middleware is implemented with four modules: perception, decision,...

Research in biomechanics hypothesizes that human motion is optimal with respect to an unknown cost function varies depending on the action and/or task. This often approximated as weighted sum of a set features or basis functions. As person performs sequence actions, weights associated each these functions are likely vary over time. Given demonstration and corresponding weight trajectory recovered via inverse control (IOC), this paper proposes (OC) method can generate robot based movement...

Virtual characters capable of showing emotional content are considered as more believable and engaging. However, in spite the numerous psychological studies machine learning applications trying to decode most salient features expression perception affect, there is still no common understanding about how affect conveyed through body motions. Based on findings reported by psychology research community quantitative results obtained computer animation domain during last years, we propose...

Recent results in the affective computing sciences point towards importance of virtual characters capable conveying affect through their movements. However, spite all advances made on synthesis expressive motions, almost existing approaches focus translation stylistic content rather than generation new motions. Based studies that show end-effector trajectories perception and recognition affect, this paper proposes a approach for automatic In approach, is embedded low-dimensional manifold...

Endowing animated virtual characters with emotionally expressive behaviors is paramount to improving the quality of interactions between humans and characters. Full-body motion, in particular, its subtle kinematic variations, represents an effective way conveying content. However, before synthesizing full-body movements, it necessary identify understand what qualities human motion are salient perception emotions how these can be exploited generate novel equally movements. Based on previous...

Estimating a user's expertise level based on observations of their actions will result in better human-robot collaboration, by enabling the robot to adjust its behaviour and assistance it provides according skills particular user it's interacting with. This paper details an approach incrementally continually estimate whose goal is optimally complete given task. The level, here represented as scalar parameter, estimated evaluating how far are from optimal. proposed was tested using data...

This paper proposes a human-aware motion planner building on RRT-Connect, dubbed Human-Aware RRT-Connect. The considers composite cost function that includes four criteria: human separation distance, human-robot center of mass robot inertia and visibility. choice criteria ensures the maintains safe distance low during while being as visible possible to human. A simulation study is conducted demonstrate performance. For study, proposed offline RRT-Connect compared other planners through set...

Robotics has been a popular field of research in the past few decades, with much success industrial applications such as manufacturing and logistics. This is led by clearly defined use cases controlled operating environments. However, robotics yet to make large impact domestic settings. due part difficulty complexity designing mass-manufactured robots that can succeed variety homes environments humans live operate safely close proximity humans. paper explores contextual affordances enable...

Robots are increasingly being deployed in public spaces. However, the general population rarely has opportunity to nominate what they would prefer or expect a robot do these contexts. Since most people have little no experience interacting with robot, it is not surprising that robots real world may fail gain acceptance engage their intended users. To address this issue, we examine users' understanding of spaces and expectations appropriate uses Furthermore, investigate how perceptions change...

When a robot learns from human examples, most approaches assume that the partner provides examples of optimal behavior. However, there are applications in which nonexpert humans. We argue should learn not only about human's objectives, but also their expertise level. The could then leverage this joint information to reduce or increase frequency at it assistance its be more cautious when learning new skills novice users. Similarly, by taking into account expertise, would able infer true...

When a robot learns from human examples, most approaches assume that the partner provides examples of optimal behavior. However, there are applications in which non-expert humans. We argue should learn not only about human's objectives, but also their expertise level. The could then leverage this joint information to reduce or increase frequency at it assistance its be more cautious when learning new skills novice users. Similarly, by taking into account expertise, would able inferring true...