Design of robust robotic proxemic behaviour

E. Torta; R.H. Cuijpers; J.F. Juola; D. Pol, van der

doi:10.1007/978-3-642-25504-5_3

Design of robust robotic proxemic behaviour

E. Torta, R.H. Cuijpers, J.F. Juola, D. Pol, van der

Human Technology Interaction

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

30 Citations (Scopus)

3 Downloads (Pure)

Abstract

Personal robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behaviour-based robotic architecture that, (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the user’s personal space by choosing the appropriate distance and direction of approach. The model of the personal space is derived from a human-robot psycho-physical study and it is described in a convenient mathematical form. The robot’s target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioural architecture shows that the robot is able to exhibit appropriate proxemic behaviour.

Original language	English
Title of host publication	Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings)
Editors	B. Mutlu, C. Bartneck, J.R.C. Ham, V. Evers, T. Kanda
Place of Publication	Berlin
Publisher	Springer
Pages	21-30
Number of pages	10
ISBN (Print)	9783642255038
DOIs	https://doi.org/10.1007/978-3-642-25504-5_3 https://doi.org/10.1007/978-3-642-25504-5_17 https://doi.org/10.1007/978-3-642-25504-5_3
Publication status	Published - 2011
Event	3rd International Conference on Social Robotics, ICSR 2011 - Amsterdam, Netherlands Duration: 24 Nov 2011 → 25 Nov 2011 Conference number: 3 http://icsoro.org/icsr2011/

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	7072 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Social Robotics, ICSR 2011
Abbreviated title	ICSR 2011
Country/Territory	Netherlands
City	Amsterdam
Period	24/11/11 → 25/11/11
Internet address	http://icsoro.org/icsr2011/

Keywords

Particle Filter
Proxemic
Robotic Navigation

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Torta, E., Cuijpers, R. H., Juola, J. F., & Pol, van der, D. (2011). Design of robust robotic proxemic behaviour. In B. Mutlu, C. Bartneck, J. R. C. Ham, V. Evers, & T. Kanda (Eds.), Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings) (pp. 21-30). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7072 LNAI). Springer. https://doi.org/10.1007/978-3-642-25504-5_3, https://doi.org/10.1007/978-3-642-25504-5_17, https://doi.org/10.1007/978-3-642-25504-5_3

Torta, E. ; Cuijpers, R.H. ; Juola, J.F. et al. / Design of robust robotic proxemic behaviour. Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings). editor / B. Mutlu ; C. Bartneck ; J.R.C. Ham ; V. Evers ; T. Kanda. Berlin : Springer, 2011. pp. 21-30 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "Personal robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behaviour-based robotic architecture that, (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the user{\textquoteright}s personal space by choosing the appropriate distance and direction of approach. The model of the personal space is derived from a human-robot psycho-physical study and it is described in a convenient mathematical form. The robot{\textquoteright}s target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioural architecture shows that the robot is able to exhibit appropriate proxemic behaviour.",

keywords = "Particle Filter, Proxemic, Robotic Navigation",

author = "E. Torta and R.H. Cuijpers and J.F. Juola and {Pol, van der}, D.",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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Torta, E , Cuijpers, RH, Juola, JF & Pol, van der, D 2011, Design of robust robotic proxemic behaviour. in B Mutlu, C Bartneck, JRC Ham, V Evers & T Kanda (eds), Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings). Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7072 LNAI, Springer, Berlin, pp. 21-30, 3rd International Conference on Social Robotics, ICSR 2011, Amsterdam, Netherlands, 24/11/11. https://doi.org/10.1007/978-3-642-25504-5_3, https://doi.org/10.1007/978-3-642-25504-5_17, https://doi.org/10.1007/978-3-642-25504-5_3

Design of robust robotic proxemic behaviour. / Torta, E.; Cuijpers, R.H.; Juola, J.F. et al.
Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings). ed. / B. Mutlu; C. Bartneck; J.R.C. Ham; V. Evers; T. Kanda. Berlin: Springer, 2011. p. 21-30 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7072 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Design of robust robotic proxemic behaviour

AU - Torta, E.

AU - Cuijpers, R.H.

AU - Juola, J.F.

AU - Pol, van der, D.

N1 - Conference code: 3

PY - 2011

Y1 - 2011

N2 - Personal robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behaviour-based robotic architecture that, (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the user’s personal space by choosing the appropriate distance and direction of approach. The model of the personal space is derived from a human-robot psycho-physical study and it is described in a convenient mathematical form. The robot’s target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioural architecture shows that the robot is able to exhibit appropriate proxemic behaviour.

AB - Personal robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behaviour-based robotic architecture that, (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the user’s personal space by choosing the appropriate distance and direction of approach. The model of the personal space is derived from a human-robot psycho-physical study and it is described in a convenient mathematical form. The robot’s target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioural architecture shows that the robot is able to exhibit appropriate proxemic behaviour.

KW - Particle Filter

KW - Proxemic

KW - Robotic Navigation

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DO - 10.1007/978-3-642-25504-5_3

M3 - Conference contribution

SN - 9783642255038

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 21

EP - 30

BT - Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings)

A2 - Mutlu, B.

A2 - Bartneck, C.

A2 - Ham, J.R.C.

A2 - Evers, V.

A2 - Kanda, T.

PB - Springer

CY - Berlin

T2 - 3rd International Conference on Social Robotics, ICSR 2011

Y2 - 24 November 2011 through 25 November 2011

ER -

Torta E , Cuijpers RH, Juola JF, Pol, van der D. Design of robust robotic proxemic behaviour. In Mutlu B, Bartneck C, Ham JRC, Evers V, Kanda T, editors, Social Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings). Berlin: Springer. 2011. p. 21-30. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-25504-5_3, 10.1007/978-3-642-25504-5_17, 10.1007/978-3-642-25504-5_3

Design of robust robotic proxemic behaviour

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