Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction

Hetherington, Nicholas J.; Croft, Elizabeth A.

doi:10.1109/lra.2021.3068708

Cited by 31 publications

(14 citation statements)

References 18 publications

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“…For unregistered in space, the temporal property is almost evenly distributed between discrete and continuous information. Here, signal is an exception, as discrete (23 intents; e.g., having flashing lights attached to a mobile robot to indicate a discrete change of movement direction, similar to a car [60]) is used more often than continuous (eight intents; e.g., an LED stripe attached to the robot to continuously communicate the remaining distance to the target position through a color-coded progress bar [8]). Signals are primarily used to communicate sudden changes.…”

Section: Crossmentioning

confidence: 99%

“…Please note that each intent has a spatial and a temporal property. 19 [29,57,81] the mobile robot on the floor [60]. Their results show that projected arrows were more socially acceptable and more understandable than flashing lights.…”

Section: Registered In Spacementioning

confidence: 99%

“…Fundamentally, supporting oversight refers to the ability of a human to judge and evaluate if a robot is operating within its intended parameters. For example, in work by Hetherington et al, the robot communicates its movement paths to an observer, which enables the observer to foresee and prevent potential collisions of the robot with obstacles [60]. Others communicate the inner state of the robot, allowing an observer to anticipate potential task failures that may occur due to problems with the robot itself, e.g., faulty sensor information [8,57].…”

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confidence: 99%

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How to Communicate Robot Motion Intent: A Scoping Review

Pascher

Gruenefeld

Schneegaß

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

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a) Motion [120] (b) Attention [67] (c) State [117] (d) Instruction [128] Fig. 1. (a) Robot motion intent: The robot communicates its intended motion (e.g., a trajectory of the robot's intended movement path is visualized in Augmented Reality [120]). Furthermore, our analysis revealed three additional types of intent that complement robot motion intents. (b) Attention: A robot aims to catch the user's attention for subsequent movement activity (e.g., by moving its whole body [67]). (c) State: A robot communicates its state so that a human can predict future motions and identify potential conflicts before they occur (e.g., the robot communicates its movement activity with the help of a colored LED stripe [117]). (d) Instruction: The robot aims to provide specific instructions so that the human can assist further movement (e.g., by requesting to open a door [128]).Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge.Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.

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Section: Crossmentioning

confidence: 99%

Section: Registered In Spacementioning

confidence: 99%

mentioning

confidence: 99%

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How to Communicate Robot Motion Intent: A Scoping Review

Pascher

Gruenefeld

Schneegaß

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

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show abstract

“…Hetherington et al [110] compared the blinking light, the projected arrow for the direction of the target, and the projected arrow for the direction of movement as cues to make the movements of a mobile robot easier to understand. They recommended the projected arrow (direction of movement) as a socially acceptable signal.…”

Section: Transmission Of Movement Intention By An Arrowmentioning

confidence: 99%

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Matsumaru

2022

Sensors

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The purpose of this paper is to introduce and discuss the following two functions that are considered to be important in human-coexistence robots and human-symbiotic robots: the method of generating emotional movements, and the method of transmitting behavioral intentions. The generation of emotional movements is to design the bodily movements of robots so that humans can feel specific emotions. Specifically, the application of Laban movement analysis, the development from the circumplex model of affect, and the imitation of human movements are discussed. However, a general technique has not yet been established to modify any robot movement so that it contains a specific emotion. The transmission of behavioral intentions is about allowing the surrounding humans to understand the behavioral intentions of robots. Specifically, informative motions in arm manipulation and the transmission of the movement intentions of robots are discussed. In the former, the target position in the reaching motion, the physical characteristics in the handover motion, and the landing distance in the throwing motion are examined, but there are still few research cases. In the latter, no groundbreaking method has been proposed that is fundamentally different from earlier studies. Further research and development are expected in the near future.

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“…In regards to functionality, onboard sensors and software are already at a point that collaborative mobile robots can be integrated to a company for many different jobs [1]. In a more nuanced sense that deals with the practicality of having robots on site, robot manufacturing standards dictate that AGVs and AMRs are to be given priority when moving within a manufacturing facility [2]. As such the shortest available route tends to be the deciding factor when planning the journey of a mobile robot through the fleet management system [3].…”

Section: Literature Reviewmentioning

confidence: 99%

Autonomous Mobile Robots in High Occupancy Aerospace Manufacturing

Martin¹,

Gao²,

Wilson³

et al. 2021

Advances in Transdisciplinary Engineering

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Using a combination of active Radio-Frequency Identification tracking and staff interviews with members from an aerospace manufacturing company, it was uncovered that over 80 hours per week was spent in the manual movement of goods between departments. On a site of over 1000 employees that uses dedicated build cells in separated departments, this mixed-use facility proves challenging for the adoption of an autonomous delivery system due to its narrow corridors and high occupancy, however by investigating the concerns of employees and suggesting low-cost retroactive solutions, this project seeks to justify the transition from manual to automated onsite logistics. The conclusion found that indeed the company does have the transport yields to justify the use of Autonomous Mobile Robots, that the robots would supplement rather than replace workers and that safety was a key factor to address when using robots on a site of this configuration.

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Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction

Cited by 31 publications

References 18 publications

How to Communicate Robot Motion Intent: A Scoping Review

How to Communicate Robot Motion Intent: A Scoping Review

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Autonomous Mobile Robots in High Occupancy Aerospace Manufacturing

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