Stanford Seminar - Thesis Defense: Designing in-situ Interaction with Ubiquitous Robots



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Lawrence Kim Stanford University January 31, 2020 As robots begin to operate in our personal space and collaborate with us, it is important to investigate how to implement seamless integration of robots to assist humans in every aspect of life. Swarms of cm-scale non-anthropomorphic robots are particularly interesting as their appearance and size enable seamless transition between blending into the environment, becoming "invisible" to users, and performing everyday tasks such as object manipulation through collective means. My research aims toward building and designing human-centered multi-robot platforms that prioritize in-situ interaction with users over task-oriented objectives such as completion time. Specifically, I investigated how to layer expressiveness and intent on top of existing swarm robot motion and sought to understand how humans naturally communicate with and through many robots. Learn more about Stanford's Human-Computer Interaction Group: https://hci.stanford.edu Learn about Stanford's Graduate Certificate in HCI: https://online.stanford.edu/programs/human-computer-interaction-graduate-certificate View the full playlist: https://www.youtube.com/playlist?list=PLoROMvodv4rMyupDF2O00r19JsmolyXdD&disable_polymer=true 0:00 Introduction 0:57 Trends in Computing 3:31 Interaction with a single humanoid robot 4:46 Expressive motion for a non-humanoid robot 5:01 Single Robot Command 6:12 Challenges 7:23 Approach 9:52 Application Simulation 11:06 Iconic Display 11:52 Bio-inspired Swarm Behaviors 12:12 Swarm Motion Parameters 13:02 Method: Crowdsourced Between-Subjects Design 13:53 Independent Variables: Swarm Behaviors 14:06 Independent Variables: Speed 14:09 Independent Variables: Smoothness 15:16 Results - Behavior 15:59 Results - Speed & Smoothness 16:42 Phone Call Notification 19:30 Costs of Path-based Legible Motion 19:53 Swarm Robot Motion Features 21:13 Task Parameters 21:34 Control Condition 22:19 Density 23:54 Rendezvous Behavior 25:37 Hypotheses 26:25 Method - Online Between-Subject Design 27:30 Results: Effects of Legibility Cues 28:06 Results: Effects of Target Difficulty 33:17 How do people perceive touch from swarm robots? 34:48 Results: Number of Robots 35:06 Results: Force Amplitude 35:17 Perception Study Takeaways 35:33 How should the robots convey social touch? 35:50 Referents for Social Touch 36:54 Visual Effects and Contact Location 37:24 Elicitation Study Takeaways 39:41 Research Questions 40:54 Study Setup 41:06 Elicitation Study Procedure 42:01 User-defined Commands 42:12 Results: Breakdown of Modality 43:11 Results: Effects of Number of Robots 44:59 Results: Effect of Proximity to the Robots

Published by: Stanford Online Published at: 4 years ago Category: آموزشی