1. Models for Human Interaction with Mobile Service Robots Helge Hütttenrauch hehu@nada.kth.se Helge Hüttenrauch1999-02-12

2. Helge Hüttenrauch1999-02-12 Background 1995: Diplom Medieninformatik, Germany - CBT, Multi-Media, Design, CS 1994-’98: Ericsson Business Networks AB - Desktop Videoconferencing - Usability Engineering & Design May’98: Ph.D. Student HMI

3. Helge Hüttenrauch1999-02-12 Robot Project ISR= Intelligent Service Robot Interdisciplinary Research Project:

4. Helge Hüttenrauch1999-02-12 ISR Examples Cleaning and Transportation Robots Assisting Robots in domestic environment Walky PerMobil Husqvarna Nomadics

5. Helge Hüttenrauch1999-02-12 ISR Overview Ambiguous, dynamic environments Mobile platform, possible manipulator Autonomous Operation Multimodal Interaction

6. Helge Hüttenrauch1999-02-12 ISR Research Questions Interaction Modalities: –Direct Manipulation (e.g. buttons, joystick) –Graphical User Interface(s) –Natural Language Interface(s) –Multimodal, e.g. speech & gesture –Character: command and instruct || proactive agent

7. Helge Hüttenrauch1999-02-12 ISR Research Questions II Human-Robot Communication: –User needs, expectations, metaphors –Knowledge representation –Robot instruction & system feedback –Robot as a physical entity –Uncertainty resolving situations –Human-Robot ‘Communicative Acts’

8. Helge Hüttenrauch1999-02-12 ISR Research Questions III Robot Ergonomics (form factor) Robot Safety Robot and Home Automation

9. Helge Hüttenrauch1999-02-12 Research Status AMS Project - Scout Robot: –“Fetch and Carry Robot” –planned: Navigate and deliver office objects –planned: prototype design for GUI –planned: Swedish Natural Language Interface –project start: November 1998 –project end: December 1999

10. Helge Hüttenrauch1999-02-12 Research Status CAS ISR: –“Navigate and Manipulate Robot” –working: Navigation, English Speech IF –needed: planner-module –planned: gesture & speech IF fusion –planned: manipulation of domestic objects

11. Helge Hüttenrauch1999-02-12 Methods planned ‘Buy and Adapt’ Prototyping Iterative Testing with Users Wizard-of Oz studies if technology unavailable & data collection

12. Helge Hüttenrauch1999-02-12 Important Issues CERTEC know-how & experiences in robotics Research feedback and commenting Joint National Robotics Centre for Rehabilitation involvement Co-operation in User testing Future projects