Des robots compagnons avec du style : vers de la plasticité en interaction homme-robot

摘要

Companion robots are technologically and functionally more and more efficient. Capacities and usefulness of companion robots is nowadays a reality. These robots that have now more efficient are however not accepted yet in home environments as worth of having such robot and companionship hasn't been establish. Classically, social robots were displaying generic social behaviours and not taking into account inter-individual differences. More and more work in Human-Robot Interaction goes towards personalisation of the companion. Personalisation and control of the companion could lead to better understanding of the robot's behaviour. Proposing several ways of expression for companion robots playing role would allow user to customize their companion to their social preferences.In this work, we propose a plasticity framework for Human-Robot Interaction. We used a Scenario-Based Design method to elicit social roles for companion robots. Then, based on the literature in several disciplines, we propose to depict variations of behaviour of the companion robot with behavioural styles. Behavioural styles are defined according to the social role with non-verbal expressive parameters. The expressive parameters (static, dynamic and decorators) allow to transform neutral motions into styled motion. We conducted a perceptual study through a video-based survey showing two robots displaying styles allowing us to evaluate the expressibility of two parenting behavioural styles by two kind robots. We found that, participants were indeed able to discriminate between the styles in term of dominance and authoritativeness, which is in line with the psychological theory on these styles. Most important, we found that styles preferred by parents for their children was not correlated to their own parental practice. Consequently, behavioural styles are relevant cues for social personalisation of the companion robot by parents.A second experimental study in a natural environment involving child-robot interaction with 16 children showed that parents and children were expected a versatile robot able to play several social role. This study also showed that behavioural styles had an influence on the child's bodily attitudes during the interaction. Common dimension studied in non-verbal communication allowed us to develop measures for child-robot interaction, based on data captured with a Kinect2 sensor .In this thesis, we also propose a modularisation of a previously proposed affective and cognitive architecture resulting in the new Cognitive, Affective Interaction Oriented (CAIO) architecture. This architecture has been implemented in ROS framework allowing it to use it on social robots. We also proposed instantiations of the Stimulus Evaluation Checks of [Scherer, 2009]for two robotic platforms allowing dynamic expression of emotions.Both behavioural style framework and CAIO architecture can be useful in socialise companion robots and improving their acceptability.