Designing a robot to evaluate group formations
- Autores: Dennys Fabián Paillacho Chiluiza
- Directores de la Tesis: Cecilio Angulo Bahón (dir. tes.), Marta Díaz Boladeras (dir. tes.)
- Lectura: En la Universitat Politècnica de Catalunya (UPC) ( España ) en 2019
- Idioma: español
- Tribunal Calificador de la Tesis: Raquel Ros Espinoza (presid.), Pedro Ponsa Asensio (secret.), Alexandre Barco Martelo (voc.)
- Programa de doctorado: Programa de Doctorado en Automática, Robótica y Visión por la Universidad Politécnica de Catalunya
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- Resumen
Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This dissertation focuses on the problem of how to develop a robotic platform in order to validate human-robot interaction experiences in realistic environments. More specifically, we are concerned with social interactions in human-robot groups in public scenarios, where a variety of people can converge. Our final goal is the develop of a social robot based on certain theories of group behavior and the use of space, known as spatial relationships. The intermediate goals are related with the design and development of the experiences in the wild: as minor changes as possible in the scenario, definition of social tasks, gradual development of a robotic platform as transparent as possible from the robotic side.
Initially, this research introduces several preliminary studies of human-robot interaction (HRI) with the PAL Robotics’ REEM robot at the CosmoCaixa Science Museum in Barcelona. Based on certain theories about the use of space as a form of social communication or interaction, the task under study with the commercial robot is as a museum guide, both when the group was in motion (\ie when it was being guided) as well as a group in a static place. Moreover, a second HRI study with REEM robot accomplishing the task of a teacher's assistant was carried out to analyze the perception of the robot's social presence and identity.
Likewise, the development of a robotic platform, known as MASHI, for the study of HRI is presented. Based on the service to be completed by the robot, improvements in the experimental robotic platform (structure, morphology, head, face, arms) were carried out in continuous cycles following the development of HRI experiences. This structure should be hold as simple as possible in order to make it `transparent' in the social HRI study.
Next, the field study of human-robot social interaction with the MASHI robot with the role of exhibition guide in a cultural center is presented. Based on direct observation techniques, a study is made of the different spatial relationships that are generated when a robot interacts with a person or groups of people.
Finally, a novel approach to represent the spatial relationships of HRI in a qualitative way is introduced for future experiences. In this concluding study, we analyze different spatial arrangements generated in a social scenario with a robot within the guide role.
As a main conclusion, it can be stated that people follow social norms, in the form of spatial relationships, when interacting with a robot that provide a social service in a public space. Children, however, recurrently challenge these social norms, probably because they are constantly learning about the norms that regulate our coexistence.
Spatial relationships are clearly reinforced when the role assigned to the robot is more explicit and understood by people. Spatial relationships can be affected by the characteristics of the environment, either by the available space or by the elements arranged in it, as well as by the number of people who inhabit it.
Overall, this dissertation points out that the provided service, and its understanding from the user’s side, is more important that the robotic skills of the robotic platform in order to improve user experiences in public environments.
