human robot interaction - ryerson university

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Department of Computer Science

Human Robot InteractionTaxonomy

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LEADERS OF TOMORROWDepartment of Computer Science

About This Class

• Source Material– “Classifying Human-Robot Interaction an

Updated Taxonomy”• Topics

– What is this taxonomy thing?– Some ways of looking at Human-Robot

relationships.

Available on the course web site. A good paper.

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What is a taxonomy?

• A systematic classification of concepts– The organization of a particular set of

information for a particular purpose.• The term comes from biology

– single location for a species within a complexhierarchy

• For more than you want to know aboutorganizing concepts see:– http://argus-

acia.com/ia_guide/subject/organizational_theory.html

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Numeric Relationships

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One Human, One Robot

• One Human controls one robot– Example: WAX

• wax.scs.ryerson.ca

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One Human, Robot Team• One human gives commands that are

interpreted and actions coordinated by a robotteam without intervention.

• Lots of people working in simulation…anyonesee real robots working this way, let Alex know.

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One Human,MultipleRobots

• One human issuesindividual commandsto multiple individualrobots each operatingindependently.

Rutgers University ResearchA project lead by Bill Craelius and Sam Phillips is working on anartificial hand designed to give amputees individual control over atleast three fingers by using their original nerve pathways. Theprototype allows so much control that one amputee has been able toplay a keyboard with it. (2,4) The prosthetic uses electrical impulsesin the arm from "phantom limb" movement, called residual kineticimaging (3). The user's original motor pathways are used to controlrobotic replacement parts without relearning how to move their hands.

See also,E. Woo, B.A. MacDonald, and F. Trepanier“Mobile Robot ApplicationInfrastructure”, IROS’03

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Human-Team One robot• Humans agree on robot command and

issue it.– Remote Manipulator System on ISS and

Shuttle -- CanadArm

Remote Manipulator System (RMS)Two large robot arms and associated equipment, one of which isattached to the Space Shuttle Orbiter for payload deployment andretrieval, the other to the International Space Station (ISS). The RMSswere designed, developed, tested and built by the Canadiancompany Spar Aerospace, with some components from otherCanadian firms, and so are also known as Canadarm (Shuttleversion) and Canardarm 2 (ISS version).

The Shuttle’s RMS is 15.3 m long , 38 cm in diameter, and weighs408 kg. It has six joints that correspond roughly to the joints of thehuman arm, with shoulder yaw and pitch joints, an elbow pitch joint,and wrist pitch, yaw, and roll joints. The end effector is the unit at theend of the wrist that actually grabs, or grapples, the payload. Twolightweight boom segments, called the upper and lower arms,connects the shoulder and elbow joints, and the elbow and wristjoints, respectively. The Shuttle RMS can handle payloads withmasses up to 29,500.

One flight crew member operates the RMS from the aft flight deckcontrol station, and a second flight crew member usually assists withtelevision camera operations.

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Multiple Humans, One Robot• Multiple humans issue commands to a single

robot. Robot must de-conflict and prioritize.• We have a hard time with this as humans.• Round-robin-timer: max.scs.ryerson.ca• Shared Control: NEPWAK.

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Human Team, Robot Team

• Team of humans issues commands to ateam of robots who determine which robotdoes what to fulfill the command.

6.

ISePorto Team ProjectﾊISePorto Team is part of a LSA-ISEP roboticfootball initiative and is designed for participation in Robocup MiddleSize League (F2000).The objectives behind the team formation aretwofold: to provide an adequate testbed and case study for researchin the areas of interest of the ISEP's Autonomous Systems Lab (LSA),and the development of a relevant application with educationalpurposes. The robotic football team provides an excellent tool todevelop and demonstrate the research in the areas of interestassociated with autonomous systems. These are mainly sensorfusion, mobile robotics navigation, nonlinear hybrid feedback controland coordination.

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Human Team, Multiple Robots

• A human team issues one command toeach individual robot.

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Multiple Humans, Robot Team

• Multiple humans issue different commands to ateam of robots who must de-conflict, prioritizeand divide the task amongst themselves.

• Harder problem still.

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Spatial Relationships

Homunculus: A very small “humanoid creature”: The “magic” insidethe box. Microsoft “Paperclip” (“The ogre under the bridge” is a bettermetaphor in this case)

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Authority Relationships

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Robot Morphology• The form and structure of a robot is important

because it helps to establish social expectation.– Anthropomorphic - human-like appearance– Zoomorphic - animal-like appearance– Original or Artistic - Form unrelated to function– Functional - Form closely related to function

Anthropomorphic

ASIMO was conceived to function in an actual human livingenvironment in the near future. It is easy to operate, has aconvenient size and weight and can move freely within thehuman living environment, all with a people-friendly design.

ZoomorphicAIBO is one of several types of robotic dogs designed andmanufactured by Sony; there have been several different modelssince their introduction in 1999. Able to walk, "see" its environmentvia camera, and recognize spoken commands, they are consideredto be autonomous robots, since they are able to learn and maturebased on external stimuli from their owner or environment, or fromother AIBOs.

ArtisticThe Helpless Robot (Norm White 1987-96). Another interactive work,except that this one has no motors, but instead must depend upon itssynthesized voice to encourage people to move it as it would "like". Ibuilt it primarily as an apparatus to test out different techniques ofautomatic knowledge-building; in this case, the machine attempts toassess and predict human behavior. Like Facing Out Laying Low, itis essentially an unfinishable work. Materials: plywood, angle-iron,proximity sensors, modified 80386 computer, and custom electronics(click here for technical details on both hardware and software). Italso speaks Spanish (click the Play button below for a sample) andFrench. Owned by the Agnes Etherington Art Centre.

FunctionalSuitable for OEMs, educators, and DIYers, this apparatus can be thebasis for a tennis trainer, a projectile teaching tool,ﾊ or a coolweapon for a robot warrior.ﾊ Ejects a standard size tennis ball atspeeds up to 60 MPH.ﾊ Features dual 24-VDC drive motors, durable8" wheels, and transparent chute with feed control mechanism forcomputer or R/C control.ﾊ Two design versions:ﾊ floor-mount andtable-mount.

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Proximity• How close is/are the

robot(s) to thehuman(s)?– Distant– Avoiding– Passing– Following– Approaching– Touching

human robot interaction - ryerson university

Documents