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 language | English |
|---|---|
| Title of host publication | HAI 2018 - Proceedings of the 6th International Conference on Human-Agent Interaction |
| Publisher | Association for Computing Machinery, Inc |
| Pages | 167-175 |
| Number of pages | 9 |
| ISBN (Electronic) | 9781450359535 |
| DOIs | |
| Publication status | Published - 2018 Dec 4 |
| Event | 6th International Conference on Human-Agent Interaction, HAI 2018 - Southampton, United Kingdom Duration: 2018 Dec 15 → 2018 Dec 18 |
Other
| Other | 6th International Conference on Human-Agent Interaction, HAI 2018 |
|---|---|
| Country | United Kingdom |
| City | Southampton |
| Period | 18/12/15 → 18/12/18 |
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Keywords
- Contingent behavior
- Human robot interaction
- Semi-autonomous telepresence robot
- Telepresence robot
ASJC Scopus subject areas
- Human-Computer Interaction
- Artificial Intelligence
- Software
Cite this
Semi-autonomous telepresence robot for adaptively switching operation using inhibition and disinhibition mechanism. / Okuoka, Kohei; Osawa, Masahiko; Takimoto, Yusuke; Imai, Michita.
HAI 2018 - Proceedings of the 6th International Conference on Human-Agent Interaction. Association for Computing Machinery, Inc, 2018. p. 167-175.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Semi-autonomous telepresence robot for adaptively switching operation using inhibition and disinhibition mechanism
AU - Okuoka, Kohei
AU - Osawa, Masahiko
AU - Takimoto, Yusuke
AU - Imai, Michita
PY - 2018/12/4
Y1 - 2018/12/4
N2 - 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.
AB - 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.
KW - Contingent behavior
KW - Human robot interaction
KW - Semi-autonomous telepresence robot
KW - Telepresence robot
UR - http://www.scopus.com/inward/record.url?scp=85060682400&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85060682400&partnerID=8YFLogxK
U2 - 10.1145/3284432.3284465
DO - 10.1145/3284432.3284465
M3 - Conference contribution
AN - SCOPUS:85060682400
SP - 167
EP - 175
BT - HAI 2018 - Proceedings of the 6th International Conference on Human-Agent Interaction
PB - Association for Computing Machinery, Inc
ER -