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Abstract
Mobile robots need to understand human actions and produce socially accepted behaviors. In this paper, we address this issue and propose a method for mobile robots to communicate their intentions to humans. We also recognize the need for robots to move in a social manner by respecting the personal space of humans and not interrupting their interactions with other people or objects in the environment. We present a retrofitted MiR100 equipped with an RGB-D camera and a video projector. The RGB-D camera is used in human-aware navigation to recognize humans and predict their trajectories so as for the robot to react proactively to human actions, creating a safe and seamless human-robot collaboration. Here, the video projector acts as a communication channel between the robot and humans, as it transmits the robot’s motion intentions. In order to evaluate the robot’s ability to communicate its intentions, we performed extensive human-centered HRI experiments where 30 participants interacted with the robot integrated with socially aware navigation and a video projector. Our experiments demonstrated that the social acceptance of the mobile robot was favored by the use of human-aware navigation and its combination with the video projector raised the mobile robot’s usability and comfort by 6% and 12%, respectively.
Originalsprog | Engelsk |
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Titel | IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings |
Forlag | IEEE Signal Processing Society |
Publikationsdato | 20 dec. 2023 |
ISBN (Elektronisk) | 9798350330830 |
DOI | |
Status | Udgivet - 20 dec. 2023 |
Begivenhed | IEEE International Conference on Imaging Systems and Techniques (IST 2023) - Technical University of Denmark, Copenhagen, Danmark Varighed: 17 okt. 2023 → 19 okt. 2023 Konferencens nummer: 19 https://ist2023.ieee-ims.org/ |
Konference
Konference | IEEE International Conference on Imaging Systems and Techniques (IST 2023) |
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Nummer | 19 |
Lokation | Technical University of Denmark |
Land/Område | Danmark |
By | Copenhagen |
Periode | 17/10/2023 → 19/10/2023 |
Internetadresse |
Fingeraftryk
Dyk ned i forskningsemnerne om 'Communicating robot intentions: Usability study of a socially-Aware mobile robot'. Sammen danner de et unikt fingeraftryk.Aktiviteter
- 1 Organisering af eller deltagelse i konference
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IEEE International Conference on Imaging Systems and Techniques (IST 2023)
Dimitris Chrysostomou (Arrangør)
1 maj 2023 → 19 okt. 2023Aktivitet: Deltagelse i faglig begivenhed › Organisering af eller deltagelse i konference