Coordination mechanism for integrated design of Human-Robot Interaction scenarios
The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybr...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2017-12-01
|
| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/pjbr-2017-0006 |
| _version_ | 1797668668302163968 |
|---|---|
| author | Ferland François Reveleau Aurélien Leconte Francis Létourneau Dominic Michaud François |
| author_facet | Ferland François Reveleau Aurélien Leconte Francis Létourneau Dominic Michaud François |
| author_sort | Ferland François |
| collection | DOAJ |
| description | The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA’s generic coordination mechanism of behavior-producing modules, which allows to address a wide range or cognitive capabilities ranging from assisted teleoperation to selective attention and episodic memory. Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal teleoperation with physical guidance interaction, fetching-and delivering and tour-guiding. |
| first_indexed | 2024-03-11T20:32:43Z |
| format | Article |
| id | doaj.art-e1a7351b7c1248a9889e7dba8d9d4799 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-11T20:32:43Z |
| publishDate | 2017-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-e1a7351b7c1248a9889e7dba8d9d47992023-10-02T07:55:44ZengDe GruyterPaladyn2081-48362017-12-018110011110.1515/pjbr-2017-0006pjbr-2017-0006Coordination mechanism for integrated design of Human-Robot Interaction scenariosFerland François0Reveleau Aurélien1Leconte Francis2Létourneau Dominic3Michaud François4Interdisciplinary Institute for Technological Innovation (3IT), Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, Québec, CanadaInterdisciplinary Institute for Technological Innovation (3IT), Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, Québec, CanadaInterdisciplinary Institute for Technological Innovation (3IT), Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, Québec, CanadaInterdisciplinary Institute for Technological Innovation (3IT), Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, Québec, CanadaInterdisciplinary Institute for Technological Innovation (3IT), Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, Québec, CanadaThe ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA’s generic coordination mechanism of behavior-producing modules, which allows to address a wide range or cognitive capabilities ranging from assisted teleoperation to selective attention and episodic memory. Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal teleoperation with physical guidance interaction, fetching-and delivering and tour-guiding.https://doi.org/10.1515/pjbr-2017-0006robot control architecturetelepresenceattention mechanismepisodic memory |
| spellingShingle | Ferland François Reveleau Aurélien Leconte Francis Létourneau Dominic Michaud François Coordination mechanism for integrated design of Human-Robot Interaction scenarios Paladyn robot control architecture telepresence attention mechanism episodic memory |
| title | Coordination mechanism for integrated design of Human-Robot Interaction scenarios |
| title_full | Coordination mechanism for integrated design of Human-Robot Interaction scenarios |
| title_fullStr | Coordination mechanism for integrated design of Human-Robot Interaction scenarios |
| title_full_unstemmed | Coordination mechanism for integrated design of Human-Robot Interaction scenarios |
| title_short | Coordination mechanism for integrated design of Human-Robot Interaction scenarios |
| title_sort | coordination mechanism for integrated design of human robot interaction scenarios |
| topic | robot control architecture telepresence attention mechanism episodic memory |
| url | https://doi.org/10.1515/pjbr-2017-0006 |
| work_keys_str_mv | AT ferlandfrancois coordinationmechanismforintegrateddesignofhumanrobotinteractionscenarios AT reveleauaurelien coordinationmechanismforintegrateddesignofhumanrobotinteractionscenarios AT lecontefrancis coordinationmechanismforintegrateddesignofhumanrobotinteractionscenarios AT letourneaudominic coordinationmechanismforintegrateddesignofhumanrobotinteractionscenarios AT michaudfrancois coordinationmechanismforintegrateddesignofhumanrobotinteractionscenarios |