Adaptive Robot to Person Encounter by Motion Patterns

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Resumé

This paper introduces a new method for adaptive control of a robot approaching a person controlled by the person's interest in interaction. For adjustment of the robot behavior a cost function centered in the person is adapted according to an introduced person evaluator method relying on the three variables: the distance between the person and the robot, the relative velocity between the two, and position of the person. The person evaluator method determine the person's interest by evaluating the spatial relationship between robot and person in a Case Based Reasoning (CBR) system that is trained to determine to which degree the person is interested in interaction. The outcome of the CBR system is used to adapt the cost function around the person, so that the robot's behavior is adapted to the expressed interest. The proposed methods are evaluated by a number of physical experiments that demonstrate the e
ectiveness of the adaptive cost function approach, which allows the robot to locate itself in front of a person who has expressed interest through his or hers spatial motion.

OriginalsprogEngelsk
TitelProceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008 : Mission to Mars
Antal sider11
Vol/bind33
ForlagSpringer Science+Business Media
Publikationsdato2009
Sider1-11
ISBN (Trykt)978-3-642-03557-9
ISBN (Elektronisk)978-3-642-03558-6
StatusUdgivet - 2009
BegivenhedResearch and Education in Robotics - EUROBOT 2008 - Heidelberg, Tyskland
Varighed: 22 maj 200824 maj 2008

Konference

KonferenceResearch and Education in Robotics - EUROBOT 2008
LandTyskland
ByHeidelberg
Periode22/05/200824/05/2008

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Intelligent robots
Robots
Cost functions
Case based reasoning

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    Andersen, H. J., Bak, T., & Svenstrup, M. (2009). Adaptive Robot to Person Encounter by Motion Patterns. I Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars (Bind 33, s. 1-11). Springer Science+Business Media.
    Andersen, Hans Jørgen ; Bak, Thomas ; Svenstrup, Mikael. / Adaptive Robot to Person Encounter by Motion Patterns. Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Bind 33 Springer Science+Business Media, 2009. s. 1-11
    @inproceedings{7308b2b04cbe11ddb361000ea68e967b,
    title = "Adaptive Robot to Person Encounter by Motion Patterns",
    abstract = "This paper introduces a new method for adaptive control of a robot approaching a person controlled by the person's interest in interaction. For adjustment of the robot behavior a cost function centered in the person is adapted according to an introduced person evaluator method relying on the three variables: the distance between the person and the robot, the relative velocity between the two, and position of the person. The person evaluator method determine the person's interest by evaluating the spatial relationship between robot and person in a Case Based Reasoning (CBR) system that is trained to determine to which degree the person is interested in interaction. The outcome of the CBR system is used to adapt the cost function around the person, so that the robot's behavior is adapted to the expressed interest. The proposed methods are evaluated by a number of physical experiments that demonstrate the eectiveness of the adaptive cost function approach, which allows the robot to locate itself in front of a person who has expressed interest through his or hers spatial motion.",
    keywords = "Human-robot interaction, Adaptive Control, Social situatedness, Patterns of behavior",
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    Andersen, HJ, Bak, T & Svenstrup, M 2009, Adaptive Robot to Person Encounter by Motion Patterns. i Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. bind 33, Springer Science+Business Media, s. 1-11, Research and Education in Robotics - EUROBOT 2008, Heidelberg, Tyskland, 22/05/2008.

    Adaptive Robot to Person Encounter by Motion Patterns. / Andersen, Hans Jørgen; Bak, Thomas; Svenstrup, Mikael.

    Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Bind 33 Springer Science+Business Media, 2009. s. 1-11.

    Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

    TY - GEN

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    AU - Andersen, Hans Jørgen

    AU - Bak, Thomas

    AU - Svenstrup, Mikael

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    N2 - This paper introduces a new method for adaptive control of a robot approaching a person controlled by the person's interest in interaction. For adjustment of the robot behavior a cost function centered in the person is adapted according to an introduced person evaluator method relying on the three variables: the distance between the person and the robot, the relative velocity between the two, and position of the person. The person evaluator method determine the person's interest by evaluating the spatial relationship between robot and person in a Case Based Reasoning (CBR) system that is trained to determine to which degree the person is interested in interaction. The outcome of the CBR system is used to adapt the cost function around the person, so that the robot's behavior is adapted to the expressed interest. The proposed methods are evaluated by a number of physical experiments that demonstrate the eectiveness of the adaptive cost function approach, which allows the robot to locate itself in front of a person who has expressed interest through his or hers spatial motion.

    AB - This paper introduces a new method for adaptive control of a robot approaching a person controlled by the person's interest in interaction. For adjustment of the robot behavior a cost function centered in the person is adapted according to an introduced person evaluator method relying on the three variables: the distance between the person and the robot, the relative velocity between the two, and position of the person. The person evaluator method determine the person's interest by evaluating the spatial relationship between robot and person in a Case Based Reasoning (CBR) system that is trained to determine to which degree the person is interested in interaction. The outcome of the CBR system is used to adapt the cost function around the person, so that the robot's behavior is adapted to the expressed interest. The proposed methods are evaluated by a number of physical experiments that demonstrate the eectiveness of the adaptive cost function approach, which allows the robot to locate itself in front of a person who has expressed interest through his or hers spatial motion.

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    KW - Social situatedness

    KW - Patterns of behavior

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    Andersen HJ, Bak T, Svenstrup M. Adaptive Robot to Person Encounter by Motion Patterns. I Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008: Mission to Mars. Bind 33. Springer Science+Business Media. 2009. s. 1-11