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首页> 外文期刊>International Journal of Social Robotics >Mobile Service Robot State Revealing Through Expressive Lights: Formalism, Design, and Evaluation
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Mobile Service Robot State Revealing Through Expressive Lights: Formalism, Design, and Evaluation

机译：移动服务机器人状态通过富有效应灯显示：形式主义，设计和评估

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摘要

We consider mobile service robots that carry out tasks with, for, and around humans in their environments. Speech combined with on-screen display are common mechanisms for autonomous robots to communicate with humans, but such communication modalities may fail for mobile robots due to spatio-temporal limitations. To enable a better human understanding of the robot given its mobility and autonomous task performance, we introduce the use of lights to reveal the dynamic robot state. We contribute expressive lights as a primary modality for the robot to communicate to humans useful robot state information. Such lights are persistent, non-invasive, and visible at a distance, unlike other existing modalities. Current programmable light arrays provide a very large animation space, which we address by introducing a finite set of parametrized signal shapes while still maintaining the needed animation design flexibility. We present a formalism for light animation control and an architecture to map the representation of robot state to the parametrized light animation space. The mapping generalizes to multiple light strips and even other expression modalities. We demonstrate our approach on CoBot, a mobile multi-floor service robot, and evaluate its validity through several user studies. Our results show that carefully designed expressive lights on a mobile robot help humans better understand robot states and actions and can have a desirable impact on a collaborative human-robot behavior.
机译：我们考虑在其环境中执行与人类的任务的移动服务机器人。语音与屏幕显示相结合是与人类通信的自治机器人的常见机制，但是这种通信模式可能因时空限制而导致的移动机器人失败。为了使机器人更好地了解机器人，鉴于其移动性和自主任务性能，我们介绍了灯光来揭示动态机器人状态。我们将表达灯作为机器人与人类有用的机器人状态信息通信的主要方式。与其他现有模式不同，这种灯持续，无侵入性，并且在远处可见。目前的可编程光阵列提供了一个非常大的动画空间，我们通过引入有限的参数化信号形状来解决，同时仍保持所需的动画设计灵活性。我们为光动画控件和架构呈现了一种形式主义，以将机器人状态的表示映射到参数化光动画空间。映射推广到多个灯带甚至其他表达式模式。我们展示了我们在Cobot，移动多层服务机器人的方法以及通过几个用户研究评估其有效性。我们的结果表明，移动机器人的精心设计的富有呈现灯帮助人类更好地了解机器人状态和行动，并且可以对协同人体机器人行为具有理想的影响。

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