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首页> 外文期刊>International Journal of Social Robotics >A Collaborative Homeostatic-Based Behavior Controller for Social Robots in Human-Robot Interaction Experiments
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A Collaborative Homeostatic-Based Behavior Controller for Social Robots in Human-Robot Interaction Experiments

机译：用于人机交互实验中的社会机器人的基于协作的稳态行为控制器

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摘要

Robots have been gradually leaving laboratory and factory environments and moving into human populated environments. Various social robots have been developed with the ability to exhibit social behaviors and collaborate with non-expert users in different situations. In order to increase the degree of collaboration between humans and the robots in human-robot joint action systems, these robots need to achieve higher levels of interaction with humans. However, many social robots are operated under teleoperation modes or pre-programmed scenarios. Based on homeostatic drive theory, this paper presents the development of a novel collaborative behavior controller for social robots to jointly perform tasks with users in human-robot interaction (HRI) experiments. Manual work during the experiments is reduced, and the experimenters can focus more on the interaction. We propose a hybrid concept for the behavior decision-making process, which combines the hierarchical approach and parallel-rooted, ordered, slip-stack hierarchical architecture. Emotions are associated with behaviors by using the two-dimensional space model of valence and arousal. We validate the usage of the behavior controller by a joint attention HRI scenario in which the NAO robot and a therapist jointly interact with children.
机译：机器人一直逐渐离开实验室和工厂环境并进入人口流利的环境。已经开发了各种社会机器人，能够展示社会行为，并在不同情况下与非专家用户合作。为了提高人类和机器人在人机联合动作系统中的机器人之间的协作程度，这些机器人需要实现与人类更高水平的相互作用。但是，许多社会机器人在遥操作模式或预先编程的场景下运行。本文基于稳态驱动理论，介绍了社会机器人的新颖协作行为控制器的开发，共同执行人体机器人交互（HRI）实验中的用户。实验期间的手动工作减少，实验者可以更多地关注互动。我们为行为决策过程提出了一个混合概念，它结合了分层方法和并行根，有序的滑动堆栈分层体系结构。通过使用价值和唤醒的二维空间模型，情绪与行为相关。我们通过关注HRI场景来验证行为控制器的使用，其中NAO机器人和治疗师与儿童联合互动。

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