Semi-autonomous telepresence robot for adaptively switching operation using inhibition and disinhibition mechanism

Kohei Okuoka, Masahiko Osawa, Yusuke Takimoto, Michita Imai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In research on semi-autonomous telepresence robots, a problem in which remote operators become frustrated with autonomous operations that do not match their intention has been reported. However, in previous research, a general-purpose method for automatically switching between remote and autonomous operations has not been proposed. In this paper, through the use of a general purpose arbitration model, called the accumulator based arbitration model (ABAM), we propose an adaptive switching architecture for remote and autonomous operations, named "One Minder." We incorporated One Minder into a semi-autonomous telepresence system autonomizing contingent behaviors, and conducted experiments to verify its utility using a robot implementing the proposed architecture. As the experiment results indicate, it was shown that One Minder can adaptively switch between remote and autonomous operations without manual switching. In addition, One Minder was also shown to reduce the operational load and frustration given to a remote operator by allowing the arbitration to properly output an autonomous operation.

Original languageEnglish
Title of host publicationHAI 2018 - Proceedings of the 6th International Conference on Human-Agent Interaction
PublisherAssociation for Computing Machinery, Inc
Pages167-175
Number of pages9
ISBN (Electronic)9781450359535
DOIs
Publication statusPublished - 2018 Dec 4
Event6th International Conference on Human-Agent Interaction, HAI 2018 - Southampton, United Kingdom
Duration: 2018 Dec 152018 Dec 18

Other

Other6th International Conference on Human-Agent Interaction, HAI 2018
CountryUnited Kingdom
CitySouthampton
Period18/12/1518/12/18

Keywords

  • Contingent behavior
  • Human robot interaction
  • Semi-autonomous telepresence robot
  • Telepresence robot

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Software

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  • Cite this

    Okuoka, K., Osawa, M., Takimoto, Y., & Imai, M. (2018). Semi-autonomous telepresence robot for adaptively switching operation using inhibition and disinhibition mechanism. In HAI 2018 - Proceedings of the 6th International Conference on Human-Agent Interaction (pp. 167-175). Association for Computing Machinery, Inc. https://doi.org/10.1145/3284432.3284465