kansei analysis for ubiquitous robots interacting with people in dynamic environments
DESCRIPTION
Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments . Contents. Introduction Human Behavior Personal Space New system Future aspects Construction Summary. Introduction. Mobile robots, Autonomous robots, Android robots - PowerPoint PPT PresentationTRANSCRIPT
Kansei Analysis for Ubiquitous Robots InteraKansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments cting with People in Dynamic Environments
ContentsContents IntroductionIntroduction Human BehaviorHuman Behavior Personal SpacePersonal Space New systemNew system Future aspectsFuture aspects ConstructionConstruction SummarySummary
IntroductionMobile robots, Autonomous robots, Android r
obots Humanoid Robots (Human LIKE robot???)
Features:• Interaction with Humans• Imitate human actions
Requirements
• Human like appearance• Human like behavior • Human like feelings
Moving Around People
• Moving around• Interactions with humans • Form in queues
Queuing
• Forming a line of people
What to Consider
Dos and Don`ts
Line Modeling
??Too close
Too away
Perfect Line
• Appropriate Spacing
Nakauchi Model
• Nakauchi Model of a Human
Personal Space
• Nakauchi Model of personal space when people are forming a line
Forming Line
• Nakauchi Model of line of people
Simplified Version
HumanFront Side
Personal Space Generalized Circular Shape
80 cm 20 cm
30 cm
•Average distances with reference to generalized circular diameter of a human
Generalization
• Considered as a percentage of 177.8% in front, 44.4% behind and 66.7% in sides as the following proportion yields.
(a_dist. / g.c.d.) X 100%
Application
TargetObstacle
Tracker Personal Space
Other Factors
• Shape• Size• Colour• Sound
Ohh!
Relationships• Size and Distance
– Distance = K1 + K2 Size
• Shape and Distance– Distance = K3 + K4 Shape
Size / Shape
Distance
Moving Around• Safe distance (sd) and • Personal distance (pd) (personal space)
Obstacle
HumanB
HumanA
sdgcd
2gcdRobot R
T =0
pd
Robot RT = t
Show Feelings• Eyes and Mouth
Happy Unhappy
Blue / Green Yellow / Red
Distance
Distance Change
FeelingsMouthIndication
Eye Colour
Happy Unhappy
Experimental Setup
Measure for Personal Space
0 2 4 6 8 10 12 14 16 18 2040
60
80
100
120
140
160
Number of subjects
Dis
tanc
e to
the
robo
t [cm
]
Average distance
Indication of Feelings
Face Fine
Happy Sad
Fuzzy System
Fuzzyinference system
Distance
Rate of changeFeeling
One Output
1
2
3
4
5
6
70 1 -1 1
0 1
Distance= 0.372
Rate of Change= 0.136
Feeling= 0.454
Some Considerations
• Making voice messages• Object identification and response
Shuu...
Wow
Human interaction
• Recognition of– Voice– Gesture
Human Robot
Summary• Social rules• Human feelings identification
– Personal space• Show some feelings
– Eye colour– Mouth shape
• More analysis into personal space– Shape– Colour
• Using voice• Identify gestures• More friendly human interaction
In the future: