论文标题
具有不同实施例的机器人可以表达和影响对象操纵的谨慎性
Robots with Different Embodiments Can Express and Influence Carefulness in Object Manipulation
论文作者
论文摘要
人类具有非凡的能力来传达和阅读对象的属性，只是看着它们被别人携带。人类可以使用的这种沟通技巧和解释水平对于协作机器人可以自然和有效互动，至关重要。例如，假设机器人正在交出脆弱的对象。在这种情况下，应通过直接和隐性的信息，即通过直接调节机器人的行动来提前告知其脆弱性。这项工作调查了两个具有不同实施方案的机器人（一个ICUB类人形机器人和百特机器人）进行交流意图执行的对象操作的感知。我们设计了机器人的动作，以在物体运输过程中交流谨慎。我们发现，人类观察者不仅可以正确地感知此功能，而且可以在随后的人类物体操纵中引起运动适应的一种形式。此外，我们可以深入了解哪些运动功能可能会或多或少地谨慎地操纵对象。
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for collaborative robots if they are to interact naturally and effectively. For example, suppose a robot is handing over a fragile object. In that case, the human who receives it should be informed of its fragility in advance, through an immediate and implicit message, i.e., by the direct modulation of the robot's action. This work investigates the perception of object manipulations performed with a communicative intent by two robots with different embodiments (an iCub humanoid robot and a Baxter robot). We designed the robots' movements to communicate carefulness or not during the transportation of objects. We found that not only this feature is correctly perceived by human observers, but it can elicit as well a form of motor adaptation in subsequent human object manipulations. In addition, we get an insight into which motion features may induce to manipulate an object more or less carefully.
