Communicating robot intentions: Usability study of a socially-aware mobile robot.
2023 IEEE International Conference on Imaging Systems and Techniques (IST)(2023)
摘要
Mobile robots need to understand human actions and produce socially accepted behaviors. In this paper, we address this issue and propose a method for mobile robots to communicate their intentions to humans. We also recognize the need for robots to move in a social manner by respecting the personal space of humans and not interrupting their interactions with other people or objects in the environment. We present a retrofitted MiR100 equipped with an RGB-D camera and a video projector. The RGB-D camera is used in human-aware navigation to recognize humans and predict their trajectories so as for the robot to react proactively to human actions, creating a safe and seamless human-robot collaboration. Here, the video projector acts as a communication channel between the robot and humans, as it transmits the robot’s motion intentions. In order to evaluate the robot’s ability to communicate its intentions, we performed extensive human-centered HRI experiments where 30 participants interacted with the robot integrated with socially aware navigation and a video projector. Our experiments demonstrated that the social acceptance of the mobile robot was favored by the use of human-aware navigation and its combination with the video projector raised the mobile robot’s usability and comfort by 6% and 12%, respectively.
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