異なる身体を持つロボットが物体操作における丁寧さを表現し、人間に影響を与える
Robots with Different Embodiments Can Express and Influence Carefulness in Object Manipulation
iCubとBaxterの2体のロボットが物体を運ぶ際の動きで「丁寧さ」を伝え、人間がそれを正しく知覚し、その後の人間の操作が適応することを示した研究。
著者: Linda Lastrico, Luca Garello, Francesco Rea, Nicoletta Noceti, Fulvio Mastrogiovanni, Alessandra Sciutti, Alessandro Carfi
分類: cs.RO, cs.LG
原文アブストラクト
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for collaborative robots if they are to interact naturally and effectively. For example, suppose a robot is handing over a fragile object. In that case, the human who receives it should be informed of its fragility in advance, through an immediate and implicit message, i.e., by the direct modulation of the robot's action. This work investigates the perception of object manipulations performed with a communicative intent by two robots with different embodiments (an iCub humanoid robot and a Baxter robot). We designed the robots' movements to communicate carefulness or not during the transportation of objects. We found that not only this feature is correctly perceived by human observers, but it can elicit as well a form of motor adaptation in subsequent human object manipulations. In addition, we get an insight into which motion features may induce to manipulate an object more or less carefully.
