By Topic

Adapting Robot Behavior for Human--Robot Interaction

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Mitsunaga, N. ; Dept. of Robot., Kanazawa Inst. of Technol., Ishikawa ; Smith, C. ; Kanda, T. ; Ishiguro, H.
more authors

Human beings subconsciously adapt their behaviors to a communication partner in order to make interactions run smoothly. In human-robot interactions, not only the human but also the robot is expected to adapt to its partner. Thus, to facilitate human-robot interactions, a robot should be able to read subconscious comfort and discomfort signals from humans and adjust its behavior accordingly, just like a human would. However, most previous research works expected the human to consciously give feedback, which might interfere with the aim of interaction. We propose an adaptation mechanism based on reinforcement learning that reads subconscious body signals from a human partner, and uses this information to adjust interaction distances, gaze meeting, and motion speed and timing in human-robot interactions. The mechanism uses gazing at the robot's face and human movement distance as subconscious body signals that indicate a human's comfort and discomfort. A pilot study with a humanoid robot that has ten interaction behaviors has been conducted. The study result of 12 subjects suggests that the proposed mechanism enables autonomous adaptation to individual preferences. Also, detailed discussion and conclusions are presented.

Published in:

Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 4 )