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Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments

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

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Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments

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  1. Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments

  2. Contents • Introduction • Human Behavior • Personal Space • New system • Future aspects • Construction • Summary

  3. Introduction Mobile robots, Autonomous robots, Android robots Humanoid Robots (Human LIKE robot???) Features: • Interaction with Humans • Imitate human actions

  4. Requirements • Human like appearance • Human like behavior • Human like feelings

  5. Moving Around People • Moving around • Interactions with humans • Form in queues

  6. Queuing • Forming a line of people

  7. What to Consider

  8. Dos and Don`ts

  9. Line Modeling

  10. Perfect Line • Appropriate Spacing

  11. Nakauchi Model • Nakauchi Model of a Human

  12. Personal Space • Nakauchi Model of personal space when people are forming a line

  13. Forming Line • Nakauchi Model of line of people

  14. Simplified Version • Average distances with reference to generalized circular diameter of a human

  15. 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%

  16. Application

  17. Other Factors • Shape • Size • Colour • Sound Ohh!

  18. Relationships • Size and Distance • Distance = K1 + K2 Size • Shape and Distance • Distance = K3 + K4 Shape

  19. Moving Around • Safe distance (sd) and • Personal distance (pd) (personal space)

  20. Show Feelings • Eyes and Mouth Unhappy Happy

  21. Experimental Setup

  22. 160 140 120 Distance to the robot [cm] 100 Average distance 80 60 40 0 2 4 6 8 10 12 14 16 18 20 Number of subjects Measure for Personal Space

  23. Indication of Feelings Face Fine Happy Sad

  24. Distance Fuzzy inference system Feeling Rate of change Fuzzy System

  25. Distance = 0.372 Rate of Change = 0.136 Feeling = 0.454 1 2 3 4 5 6 7 0 1 -1 1 1 0 One Output

  26. Shuu... Wow Some Considerations • Making voice messages • Object identification and response

  27. Human Robot Human interaction • Recognition of • Voice • Gesture

  28. 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:

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