Abstract
Many researchers in human-robot interaction have acknowledged the fact that iterative design is necessary to optimize the robots for the interaction with the users. However, few iterative user studies have been reported. We believe that one reason for this is that setting up systems for iterative studies is cumbersome because the system architectures do not support iterative design. In the paper, we address this problem by interlinking usability research with system development. In a first user study, we identify requirements and concepts for a new framework that eases the employment of autonomous robots in the iterative design process. With a second user study we show how robot behaviors are implemented in the new framework and how it enables the developer to efficiently make changes to these behaviors.
Similar content being viewed by others
Notes
Please note that this scale applies for all following items.
The PTA is the component for person tracking and attention (see [20]).
References
Adams JA (2005) Human-robot interaction design: understanding user needs and requirements. In: Proceedings of the 2005 human factors and ergonomics society 49th annual meeting, Orlando, FL
Barnett J, Akolkar R, Auburn R, Bodell M, Burnett D, Carter J, McGlashan S, Lager T, Helbing M, Hosn R et al (2007) State chart xml (scxml): state machine notation for control. In: W3C working draft
Bartneck C, Kulić D, Croft E, Zoghbi S (2009) Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. Int J Soc Robot 1(1):71–81
Brugali D, Shakhimardanov A (2010) Component-based robotic engineering. IEEE Robot Autom Mag 17(1):100–112
Bryson J (2010) The behavior-oriented design of modular agent intelligence. Agent technologies, infrastructures, tools, and applications for e-services. Lect Notes Comput Sci 2592:61–76
Burghart C, Holzapfel H, Haeussling R, Breuer S (2007) Coding interaction patterns between human and receptionist robot. In: Proceedings of humanoids 2007, Pittsburgh, PA, USA
Clark RE (1983) Reconsidering research in learning from media. Rev Educ Res 53(4):445–459
Clarkson E, Arkin RC (2006) Applying heuristic evaluation to human-robot interaction systems. In: Proceedings of HRI 2006
Fenton N, Pfleeger S (1991) Software metrics. Chapman & Hall, London
Fitzpatrick P, Metta G, Natale L (2008) Towards long-lived robot genes. Robot Auton Syst 56(1):29–45
Gamma E, Helm R, Johnson R, Vlissides J (1995) Design patterns. Addison-Wesley, Reading
Glas D, Satake S, Kanda T, Hagita N (2011) An interaction design framework for social robots. In: Proceedings of robotics: science and systems, Los Angeles, CA, USA
Hanheide M, Lohse M, Dierker A (2010) Salem—statistical analysis of elan files in matlab. In: Proceedings of workshop on multimodal corpora: advances in capturing, coding and analyzing multimodality, 7th international conference for language resources and evaluation (LREC 2010)
Harel D (1987) Statecharts: a visual formalism for complex systems. Sci Comput Program 8(3):231–274
Heerink M, Kröse B, Evers V, Wielinga B (2010) Assessing acceptance of assistive social agent technology by older adults: the almere model. Int J Soc Robot 2(4):361–375
Joosse M, Sardar A, Lohse M, Evers V (2013) Behave-ii: the revised set of measures to assess users’ attitudinal and behavioral responses to a social robot. Int J Soc Robot 5(3):379–388
Jüngling K, Arens M, Hanheide M, Sagerer G (2008) Fusion of perceptual processes for real-time object tracking. In: Proceedings international conference on information fusion, Cologne, Germany
Kamide H, Takubo T, Ohara K, Mae Y, Arai T (2013) Impressions of humanoids: the development of a measure for evaluating a humanoid. Int J Soc Robot. doi:10.1007/s12369-013-0187-x
Kanda T, Shimada M, Koizumi S (2012) Children learning with a social robot. In: Proceedings of HRI, pp 351–358
Lang S, Kleinehagenbrock M, Hohenner S, Fritsch J, Fink GA, Sagerer G (2003) Providing the basis for human-robot-interaction: a multi-modal attention system for a mobile robot. In: Proc int conf on multimodal interfaces, Vancouver, Canada, pp 28–35
Lanza M (2001) The evolution matrix: recovering software evolution using software visualization techniques. In: Proceedings of the 4th international workshop on principles of software evolution, pp 37–42
Lee MK, Forlizzi J, Kiesler SB, Rybski PE, Antanitis J, Savetsila S (2012) Personalization in hri: a longitudinal field experiment. In: Proceedings of HRI, pp 319–326
Leite I, Martinho C, Paiva A (2013) Social robots for long-term interaction: a survey. Int J Soc Robot 5(2):291–308
Lohse M (2010) Investigating the influence of situations and expectations on user behavior—empirical analyses in human-robot interaction. PhD thesis, Faculty of Technology, Bielefeld University
Lohse M (2011) The role of expectations and situations in human-robot interaction. In: New frontiers in human-robot interaction. Benjamins, Amsterdam, pp 35–56
Lohse M, Hanheide M, Rohlfing K, Sagerer G (2009) Systemic interaction analysis (sina) in hri. In: Proceedings of conference on human-robot interaction (HRI)
Moratz R, Tenbrink T (2006) Spatial reference in linguistic human-robot interaction: iterative, empirically supported development of a model of projective relations. Spat Cogn Comput 6(1):63–107
Nalin M, Baroni I, Kruijff-Korbayová I, Cañamero L, Lewis M, Beck A, Cuayáhuitl H, Sanna A (2012) Children’s adaptation in multi-session interaction with a humanoid robot. In: Proceedings of RO-MAN, pp 351–357
Nylander S, Ljungblad S, Villarreal JJ (2012) A complementing approach for identifying ethical issues in care robotics—grounding ethics in practical use. In: Proceedings of RO-MAN, pp 797–802
Payr S (2010) Closing and closure in human-companion interactions: analyzing video data from a field study. In: Proceedings of RO-MAN, pp 476–481
Peltason J, Wrede B (2010) Pamini: a framework for assembling mixed-initiative human-robot interaction from generic interaction patterns. In: SIGDIAL 2010 Conference, Tokyo, Japan
Quigley M, Gerkey B, Conley K, Faust J, Foote T, Leibs J, Berger E, Wheeler R, Ng A (2009) Ros: an open-source robot operating system. In: Open-source software workshop of the international conference on robotics and automation (ICRA)
Sarvadevabhatla RK, Ng-Thow-Hing V, Okita SY (2010) Extended duration human-robot interaction: tools and analysis. In: Proceedings of RO-MAN, pp 7–14
Schneider S (2009) Integration einer humanoiden Robotikplattform in einer serviceorientierten Architektur. Master’s thesis, Faculty of Technology, Bielefeld University
Severinson-Eklundh K, Green A, Hüttenrauch H, Oestreicher L, Norman M (2004) Involving users in the design of a mobile office roboter. IEEE Trans Syst Man Cybern, Part C, Appl Rev 34(2):113–124
Spexard TP, Hanheide M (2009) System integration supporting evolutionary development and design. In: Human centered robotic systems. Springer, Berlin
Walters ML, Oskoei MA, Syrdal DS, Dautenhahn K (2011) A long-term human-robot proxemic study. In: Proceedings of RO-MAN, pp 137–142
Weiss A, Bernhaupt R, Lankes M, Tscheligi M (2009) The usus evaluation framework for human-robot interaction. In: AISB2009: Proceedings of the symposium on new frontiers in human-robot interaction, Edinburgh, Scottland, April 8–9, 2009, pp 158–165
Weiss A, Bernhaupt R, Tscheligi M (2011) The USUS evaluation framework for user-centered HRI. In: New frontiers in human-robot interaction. Benjamins, Amsterdam, pp 89–110
Wrede S (2008) An information-driven architecture for cognitive systems research. PhD thesis, Faculty of Technology, Bielefeld University
Wrede S, Hanheide M, Wachsmuth S, Sagerer G (2006) Integration and coordination in a cognitive vision system. In: Proceedings of international conference on computer vision systems, New York City, NY, USA
van der Zant T, Iocchi L (2011) Robocup@home: adaptive benchmarking of robot bodies and minds. In: Proceedings international conference on social robotics 2011. LNAI, vol 7072. Springer, Berlin, pp 214–225
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Lohse, M., Siepmann, F. & Wachsmuth, S. A Modeling Framework for User-Driven Iterative Design of Autonomous Systems. Int J of Soc Robotics 6, 121–139 (2014). https://doi.org/10.1007/s12369-013-0209-8
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12369-013-0209-8