This paper presents an experimental test bed for exploring and evaluating human-robot interaction (HRI). Our system is designed around the concept of playing board games involving collaboration between humans and robots in a shared physical environment. Unlike the classic human-versusmachine situation often established in computer-based board games, our test bed takes advantage of the rich inte...

The purpose of this project is to develop a platform for human-robot and human-humanoid interface. One application of this platform is to study the impact of the feedbacks provided by the robot and the humanoid on the interaction. Several studies have shown the benefit of verbal and non-verbal analysis and synthesis for the improvement of Human-Agent Interaction and of HumanRobot Interaction (H...

We present an integrated framework that permits implicit task learning and kinesthetic teaching during the execution of robotic tasks in cooperation with humans. The proposed system combines physical human-robot interaction, attentional supervision, multimodal interaction to support robot teaching and incremental task learning. We describe the overall system architecture discussing a task learn...

This paper presents a method for analyzing human-robot interaetion by body movements. Future intelligent robots will communicate with humans and perform physical and communicative tasks to participate in daily life. A human-like body will provide an abundance of non-verbal information and enable us to smoothly communicate with the robot. To achieve this, we have developed a humanoid robot that ...

In social interactions, the appropriate timing of physical actions is of vital importance. Otherwise appropriate actions performed at the wrong time can completely alter their perceived meaning. In this paper, we propose an approach to developing a physical vocabulary for human-robot interaction that uses trained actors as models of appropriate timing and gestures. We describe out initial work ...

This essay describes two emergent phenomena related to multimodality in digital communications. The first phenomenon is interactive multimodal platforms—Web 2.0 platforms that support a convergence of channels or “modes” (text, audio, video, images) for user-to-user communication. The second is robot-mediated communication—humanhuman communication in which at least one party is telepresent thro...

Introducing haptics into human-robot interaction brings new challenges to control algorithm development as the robot stays in physical contact with the human user. When the aim is to design a system which interacts with the human in a natural and plausible way similar to two humans carrying out the same task, the main challenges are to estimate human intentions online and to plan the behavior o...

Humanoid robotics focuses on the design of robots directly inspired by human capabilities. This design gives many advantages when working together with humans. Because of this, humanoids are ideal research platforms for physical Human-Robot Interaction (pHRI). The particular focus of this work is in the integration of visual servoing in pHRI, specifically in human-humanoid collaborative tasks. ...

This position paper presents our ongoing work of developing mechanisms to facilitate human-robot teaming with a focus on peer-to-peer interaction. We have developed an approach that autonomously configures solutions for multi-robot teams based on the team capabilities and the task objective. With the success of this approach in simulation and on physical robots, we plan to extend it to address ...

BIWEN, ZHU. Design of Etiquette for Patient Robot Interaction in a Medicine Delivery Task. (Under the direction of Dr. David B. Kaber). Robots are currently being developed to perform medicine delivery tasks for patients in healthcare environments (e.g., hospitals and nursing homes). It is important to ensure that robots are able to interact with patients in ways that patients find comfortable ...