TDDE05AIRobotics

Human-AwareRobotsCyrilleBerger

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Lectures1IntroductiontoAI

2IntroductiontoROSand

3FoundationofRobotics:ControlandState

4FoundationofRobotics:

5Robotic

6Deliberative

7Decision

8Knowledgeable

9Human-AwareRobots

10PuttingItAll

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RobotArchitecture

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Human-AwareRobots

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Lecturecontent

Human-RobotInterractionSituationAwareness

HumanRobotCommunication

SafetyandSocialRulesinRobotic

TrainingRobots

Human-RobotInterraction

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RolesofInteraction

Operator

Supervisor

Teammate

Mechanic/Programmer

Bystander

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OperatorOperateasinglerobot:

Interactionsdependonlevelofautonomy

Needinformationonthestatusoftherobot

ChallengesHowtomaintainawarenessdespitecommunicationslimitations

Howtocontrolmultiplerobots

Avisualisationanduserinterfaceproblem!

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ApplicationtosurgeryAssistedsurgery:

Remotesurgery:

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SupervisorOverseesanumberofrobots

Needsglobalpictureofallrobots/mission

Challenge:Howmanyrobotscanasupervisor

effectivelymonitor?

Amulti-agentsproblem!

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TeammateRobotisamemberofthe

Needtounderstandanylimitationsrobothas

incapabilities

Challenges:Cantherobotunderstandthesameinteractionvocabularyasotherteam

members?

Physicalinterractions

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Mechanic/ProgrammerComesintoplayiftheoperatorcannotresolvethe

issue

Challenges:Howmuchselfdiagnosiscantherobotdo?

Havetodeterminewhentomovefromoperatingindegraded

capabilitytopullingrobotofftaskandattemptingtofixproblem

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BystanderNoformaltrainingusingrobotbutmustco-exist

in

Challenges:Howcanabystanderformamentalmodelofwhattherobot’scapabilities

are?

Shouldabystanderhaveasubsetofinteractionsavailable?

Whattypeofsocialinteractionscomeintoplay?

SituationAwareness

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SituationAwarenessSituationawarenessisthespatialandtimingknowledgeofenvironment

elementsandevents

RobotsneedtoknowHumanpositionandintention

HumansneedtoknowRobotsposition,intentionandcapabilities

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SituationAwarenessLevels

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RemoteSituationAwareness

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ControlforaUAVpredator

HumanRobotCommunication

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HumanRobotCommunication

Toreceivecommands

Toraisesituationawareness

Differentways:Speach,gestures,emotions

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SpeachRecognitionandSynthesis

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SocialCuesFrancoisDelsartre,aFrenchdramatistinthe

1800’s,definedaCodeofExpressions:

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HumanoidRobot

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SocialCobots(1/2)

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SocialCobots(2/2)

SafetyandSocialRulesinRobotic

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Industrialrobot

Humansandmachinesaresperated

Acoupleoffatalinjuriesperyearamongseveral

hundredsinmanufacturing

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HighSpeedAutonomousCrossing

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Humancomfort

Doesitfeelsafe?

Comfort

Naturalness

Sociability

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HumanAwareRobotNavigation

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Humancomfort

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Userstudiesofhumancomfort

Howshouldarobotapproachahuman?Preferenceofhandoverfromthefront,ratherthan

diagonalorside

Howshouldarobotmeetahumanina

corridor?About40cmfromhulltohumancenter

Whichvelocityshouldarobotapproacha

human?1m/sfeelsuncomfortable,while0.5m/swasacceptable

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SocialRules

Motionspeed

MotionSmoothness

Humanmotionawarenessieweirdhandover...

DistancesComfortzone

Humangaze

Possibleobjectshazard

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Potentialfields(1/2)

Howtodefinecostfunction?Shouldalsotakeintoaccountsharpedges

Howtopredicthumanmotion?Models,machinelearning...

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PotentialFields(2/2)

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Physicalsafety

TrainingRobots

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TeachingvsProgramming

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TrainingbyobservationGeneralisation

Immitation'skeyproblemWhattoimmitate?

Howtoimmitate?

Whotoimmitate?

Whentoimmitate?

Correspondanceproblem

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LearningSkillThroughQueryApproach

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Modeloftheskill

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SymbolicSkillModel

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TrajectorySkillModel

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SocialCuesHumanindications

Robotposes

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LearningSkillThroughQueryApproach

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Openissues

Canwecombinesymbolicskillmodel

andtrajctoryskillmodel?

Howcanwereducetheneedfor

prior-knowledge?

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Learningtointerpretnaturallanguagecommands(1/2)

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Learningtointerpretnaturallanguagecommands(2/2)

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Conclusion

Beingsafeisnotenough

Interractingwithrobots

Teachingarobotishard