Models for Human Interaction with

Mobile Service Robots

Helge Hütttenrauch

hehu@nada.kth.se

Helge Hüttenrauch 1999-02-12

Helge Hüttenrauch 1999-02-12

Background

• 1995: Diplom Medieninformatik, Germany

- CBT, Multi-Media, Design, CS

• 1994-’98: Ericsson Business Networks AB

- Desktop Videoconferencing

- Usability Engineering & Design

• May’98: Ph.D. Student HMI

Helge Hüttenrauch 1999-02-12

Robot Project

• ISR= Intelligent Service Robot

• Interdisciplinary Research Project:

Helge Hüttenrauch 1999-02-12

ISR Examples

• Cleaning and Transportation Robots

• Assisting Robots in domestic environment

Walky

PerMobil

Husqvarna

Nomadics

Helge Hüttenrauch 1999-02-12

ISR Overview

• Ambiguous, dynamic environments

• Mobile platform, possible manipulator

• Autonomous Operation

• Multimodal Interaction

Helge Hüttenrauch 1999-02-12

ISR Research Questions

• Interaction Modalities:– Direct Manipulation (e.g. buttons, joystick)– Graphical User Interface(s)– Natural Language Interface(s)– Multimodal, e.g. speech & gesture– Character:

command and instruct || proactive agent

Helge Hüttenrauch 1999-02-12

ISR Research Questions II

• Human-Robot Communication:– User needs, expectations, metaphors– Knowledge representation– Robot instruction & system feedback– Robot as a physical entity– Uncertainty resolving situations– Human-Robot ‘Communicative Acts’

Helge Hüttenrauch 1999-02-12

ISR Research Questions III

• Robot Ergonomics (form factor)

• Robot Safety

• Robot and Home Automation

Helge Hüttenrauch 1999-02-12

Research Status

• AMS Project - Scout Robot:– “Fetch and Carry Robot”– planned: Navigate and deliver office objects– planned: prototype design for GUI– planned: Swedish Natural Language Interface– project start: November 1998– project end: December 1999

Helge Hüttenrauch 1999-02-12

Research Status

• CAS ISR:– “Navigate and Manipulate Robot”– working: Navigation, English Speech IF– needed: planner-module– planned: gesture & speech IF fusion– planned: manipulation of domestic objects

Helge Hüttenrauch 1999-02-12

Methods planned

• ‘Buy and Adapt’

• Prototyping

• Iterative Testing with Users

• Wizard-of Oz studies if technology unavailable & data collection

Helge Hüttenrauch 1999-02-12

Important Issues

• CERTEC know-how & experiences in robotics

• Research feedback and commenting

• Joint National Robotics Centre for Rehabilitation involvement

• Co-operation in User testing

• Future projects