kansei analysis for ubiquitous robots interacting with people in dynamic environments
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Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments . Contents. Introduction Human Behavior Personal Space New system Future aspects Construction Summary. Introduction. Mobile robots, Autonomous robots, Android robots - PowerPoint PPT PresentationTRANSCRIPT
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Kansei Analysis for Ubiquitous Robots InteraKansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments cting with People in Dynamic Environments
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ContentsContents IntroductionIntroduction Human BehaviorHuman Behavior Personal SpacePersonal Space New systemNew system Future aspectsFuture aspects ConstructionConstruction SummarySummary
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IntroductionMobile robots, Autonomous robots, Android r
obots Humanoid Robots (Human LIKE robot???)
Features:• Interaction with Humans• Imitate human actions
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Requirements
• Human like appearance• Human like behavior • Human like feelings
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Moving Around People
• Moving around• Interactions with humans • Form in queues
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Queuing
• Forming a line of people
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What to Consider
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Dos and Don`ts
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Line Modeling
??Too close
Too away
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Perfect Line
• Appropriate Spacing
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Nakauchi Model
• Nakauchi Model of a Human
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Personal Space
• Nakauchi Model of personal space when people are forming a line
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Forming Line
• Nakauchi Model of line of people
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Simplified Version
HumanFront Side
Personal Space Generalized Circular Shape
80 cm 20 cm
30 cm
•Average distances with reference to generalized circular diameter of a human
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Generalization
• Considered as a percentage of 177.8% in front, 44.4% behind and 66.7% in sides as the following proportion yields.
(a_dist. / g.c.d.) X 100%
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Application
TargetObstacle
Tracker Personal Space
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Other Factors
• Shape• Size• Colour• Sound
Ohh!
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Relationships• Size and Distance
– Distance = K1 + K2 Size
• Shape and Distance– Distance = K3 + K4 Shape
Size / Shape
Distance
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Moving Around• Safe distance (sd) and • Personal distance (pd) (personal space)
Obstacle
HumanB
HumanA
sdgcd
2gcdRobot R
T =0
pd
Robot RT = t
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Show Feelings• Eyes and Mouth
Happy Unhappy
Blue / Green Yellow / Red
Distance
Distance Change
FeelingsMouthIndication
Eye Colour
Happy Unhappy
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Experimental Setup
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Measure for Personal Space
0 2 4 6 8 10 12 14 16 18 2040
60
80
100
120
140
160
Number of subjects
Dis
tanc
e to
the
robo
t [cm
]
Average distance
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Indication of Feelings
Face Fine
Happy Sad
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Fuzzy System
Fuzzyinference system
Distance
Rate of changeFeeling
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One Output
1
2
3
4
5
6
70 1 -1 1
0 1
Distance= 0.372
Rate of Change= 0.136
Feeling= 0.454
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Some Considerations
• Making voice messages• Object identification and response
Shuu...
Wow
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Human interaction
• Recognition of– Voice– Gesture
Human Robot
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Summary• Social rules• Human feelings identification
– Personal space• Show some feelings
– Eye colour– Mouth shape
• More analysis into personal space– Shape– Colour
• Using voice• Identify gestures• More friendly human interaction
In the future: