Abstract
Humans interact safely, effortlessly, and intuitively with each other. An efficient robot assistant should thus be able to interact in the same way. This requires not only that the robot can react appropriately to human behaviour, but also that robotic behaviour can be understood intuitively by the human partners. The latter can be achieved by the robot mimicking certain aspects of human behaviour so that the human partner can more easily infer the intentions of the robot. Here we investigate a simple interaction scenario, approach and hand-over, to gain better understanding of the behavioural patterns in human-human interactions. In our experiment, one human subject, holding an object, approached another subject with the goal to hand over the object. Head and object positions were measured with a motion tracking device to analyse the behaviour of the approaching human. Interaction indicated by lifting the object in order to prepare for hand-over started approximately 1.2 s before the actual hand-over. Interpersonal distance varied considerably between subjects with an average of 1.16 m. To test whether the behavioural patterns observed depended on two humans being present, we replaced in a second experiment the receiving subject with a table. We found that the behaviour of the transferring subject was very similar in both scenarios. Thus, the presence of the receiving subject plays a minor role in determining parameters such as start of interaction or interaction distance. We aim to implement and test the parameters derived experimentally in a robotic assistant to improve and facilitate human-robot interaction.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alami, R., Clodic, A., Montreuil, V., Sisbot, E.A., Chatila, R.: Toward Human-Aware Robot Task Planning. In: Proceedings of AAAI Spring Symposium: To boldly go where no human-robot team has gone before, Stanford, USA (2006)
Althoff, D., Kourakos, O., Lawitzky, M., Mörtl, A., Rambow, M., Rohrmüller, F., Brščić, D., Wollherr, D., Hirche, S., Buss, M.: A flexible architecture for real-time control in multi-robot systems. In: Ritter, H., et al. (eds.) Human Centered Robot Systems. COSMOS, vol. 6, pp. 43–52. Springer, Heidelberg (2009)
Balasuriya, J.C., Watanabe, K., Pallegedara, A.: ANFIS based active personal space for autonomous robots in ubiquitous environments. In: International Conference on Industrial and Information Systems, pp. 523–528 (2007)
Balasuriya, J.C., Watanabe, K., Pallegedara, A.: Giving robots some feelings towards interaction with humans in ubiquitous environment. In: International Conference on Industrial and Information Systems, pp. 529–534 (2007)
Fong, T., Nourbakhsh, I., Dautenhahn, K.: A survey of socially interactive robots. Robotics and Autonomous Systems, 143–166 (2003)
Hall, E.T.: The Hidden Dimension. Doubleday, New York (1966)
Hicheur, H., Pham, Q.-C., Arechavaleta, G., Laumond, J.-P., Berthoz, A.: The formation of trajectories during goal-oriented locomotion in humans. I. A stereotyped behaviour. European Journal of Neuroscience 26, 2376–2390 (2007)
Huber, M., Knoll, A., Brandt, T., Glasauer, S.: Handing-over a cube: spatial features of physical joint action. Annals of the New York Academy of Sciences 1164, 380–382 (2009)
Huber, M., Rickert, M., Knoll, A., Brandt, T., Glasauer, S.: Human-robot interaction in handing-over tasks. In: 7th IEEE International Symposium on Robot and Human Interactive Communication, pp. 107–112 (2008)
Kajikawa, S., Ishikawa, E.: Trajectory planning for hand-over between human and robot. In: 9th IEEE International Workshop on Robot and Human Interactive Communication, pp. 281–287 (2000)
Koay, K.L., Sisbot, E.A., Syrdal, D.S., Walters, M.L., Dautenhahn, K., Alami, R.: Exploratory Study of a Robot Approaching a Person in the Context of Handing Over an Object. In: Proceedings of AAAI Spring Symposium: Multidisciplinary Collaboration for Socially Assistive Robotics, AAAI Technical Report, pp. 18–24 (2007)
Nakauchi, Y., Simmons, R.: A social robot that stands in line. Autonomous Robots 12(3), 313–324 (2002)
Satake, S., Kanda, T., Glas, D.F., Imai, M., Ishiguro, H., Hagita, N.: How to approach humans? Strategies for social robots to initiate interaction. In: ACM/IEEE International Conference on Human-Robot Interaction, pp. 109–116 (2009)
Sisbot, E.A., Clodic, A., Alami, R., Ransan, M.: Supervision and motion planning for a mobile manipulator interacting with humans. In: ACM/IEEE International Conference on Human-Robot Interaction, pp. 327–334 (2008)
Walters, M.L., Dautenhahn, K., Woods, S., Koay, K.L.: Robotic etiquette: results from user studies involving a fetch and carry task. In: ACM/IEEE International Conference on Human-Robot Interaction, pp. 317–324 (2007)
Harris, C.M., Wolpert, D.M.: Signal-dependent noise determines motor planning. Nature 394, 780–784 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Basili, P., Huber, M., Brandt, T., Hirche, S., Glasauer, S. (2009). Investigating Human-Human Approach and Hand-Over. In: Ritter, H., Sagerer, G., Dillmann, R., Buss, M. (eds) Human Centered Robot Systems. Cognitive Systems Monographs, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10403-9_16
Download citation
DOI: https://doi.org/10.1007/978-3-642-10403-9_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10402-2
Online ISBN: 978-3-642-10403-9
eBook Packages: EngineeringEngineering (R0)