Responsive social positioning behaviour for semi-autonomous telepresence robots

摘要

1 introduction 3 1.1 Responsiveness for social robotics 4 1.1.1 Focusing on social positioning 4 1.1.2 Research questions 5 1.2 Structure of the thesis 7 1.3 Contributions 9 2 social positioninga theoretical background 13 2.1 Human social positioning 13 2.1.1 Describing social positions 14 2.1.2 Factors that influence social positioning 14 2.1.3 Dynamics of social positioning behaviours 15 2.1.4 Social feedback cues 16 2.1.5 Conclusions 16 2.2 Social positioning in human-robot interaction 17 2.2.1 Social positions for robots 19 2.2.2 Towards dynamic social positioning for artificial agents 20 2.2.3 Conclusions 21 2.3 Using the interaction as the solution 22 2.3.1 Conclusions 24 3 observing social positioning behaviours in context 27 3.1 Contextual analysis 31 3.1.1 Observation goals 31 3.1.2 Methods 32 3.1.3 Findings 34 3.1.4 Conclusions and Discussion 38 3.2 Interactions with a telepresence robot; an exploratory data collection 40 3.2.1 Method 41 3.2.2 Findings 45 3.2.3 Conclusions and discussion 48 3.3 Long-term use of Teresa in an elder-care facility 50 3.3.1 Initial method 50 3.3.2 Reasons to deviate from the plan 51 3.3.3 Revised method 52 3.3.4 Results 56 3.3.5 Conclusions and Discussion 62 3.3.6 Acknowledgements 66 3.4 Conclusions and discussion 68 4 formalizing responsiveness 71 4.1 Terminology 72 xiii xiv contents 4.1.1 Variables, time spans, and value assignments 74 4.1.2 Agents and their relation to the setting 75 4.1.3 Appropriate behaviour 76 4.1.4 Approaches to finding socially appropriate behaviour 77 4.2 Implications and challenges for a setting-specific approach 80 4.2.1 Estimating the required setting variables 81 4.2.2 The knowledge to select the best action 81 4.2.3 Conclusions 83 4.3 Implications and challenges for a responsive approach 83 4.3.1 Estimating the required setting variables 84 4.3.2 The improvement strategy to select better actions 84 4.3.3 Quality of the selected action 85 4.3.4 Conclusions 86 4.4 Discussion 87 5 implementing feedback cue detectors 91 5.1 A dataset for detecting social feedback cues 92 5.1.1 Task and context 93 5.1.2 Data collection 94 5.1.3 Conditions 96 5.1.4 Procedure 98 5.1.5 Materials 98 5.1.6 Participants 99 5.1.7 Testing for effects of approach distance and environment noise on perception 100 5.2 Detecting social feedback cues 101 5.2.1 Data preparation and feature extraction 102 5.2.2 Feature selection 105 5.3 Conclusions and discussion 111 6 implementing improvement strategies 115 6.1 The structure of social appropriateness 116 6.1.1 Parametrizing action descriptions 117 6.1.2 From chaotic to lawful 117 6.1.3 Building a strategy 119 6.2 Robot response behaviours to accommodate hearing problems 120 6.2.1 Methods 122 6.2.2 Findings 125 6.2.3 Conclusions and Discussion 125 7 perception of social feedback cues and adaptation 129 7.1 Research questions and hypotheses 130 7.2 Methods 132 contents xv 7.2.1 Manipulations 132 7.2.2 Videos 135 7.2.3 Questionnaire and procedure 136 7.2.4 Participants 137 7.3 Results 138 7.3.1 Manipulation checks 138 7.3.2 Perception of the robot's eventual position 139 7.3.3 Perception of the robot in terms of warmth, competence, and discomfort 143 7.4 Conclusions and discussion 144 8 conclusions and discussion 149 8.1 Conclusions and contributions 149 8.1.1 Responsiveness as a key dynamic in social positioning 152 8.1.2 An argument for the feasibility and desirability of responsive robots 153 8.2 Reflection and future work 155 8.2.1 Towards implementing responsiveness 156 8.2.2 Beyond social positioning 157 8.3 Impact and implications 159 bibliography I N T R O D U C T I O N On stage, the actor playing Michael is expressing his righteous anger. His body tense, as if any moment he could hit someone. He moves closer, his face only inches away from that of his adversary. Through clenched teeth, he snaps out the words, "what foul play, what malevolence drives thee? 1 " The adversary looks back, casually picking her nose.