Designing in situ interaction with ubiquitous robots

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We are nearing an era of ubiquitous robots. They will be in our home doing our dishes and laundry, in our workplace helping us carry heavy loads and performing repetitive tasks, and on the road driving us to our destinations and delivering packages. Due to this wide variety of potential tasks, robots will take different forms, sizes, and numbers resulting in a diverse set of robots ranging from a humanoid robot, specifically designed for interacting with humans, to a swarm of small mobile robots, used to collectively gather information in a large unstructured environment. Of these, particularly important are swarms of centimeter-scale non-anthropomorphic robots. Their appearance and size enable seamless transition between blending into the environment, becoming "invisible" to the users, and doing everyday tasks such as object manipulation through collective means and interaction with users through their motion and touch. While roboticists have made great strides in enabling swarms to move objects and control formation, the topic of in situ human-multirobot interaction is crucial and timely, given the rise in interaction with a group of robots in our daily environment. My thesis centers on ubiquitous human-centered robotics that facilitate in situ interactions with people. I introduce the concept of Ubiquitous Robotic Interfaces (URIs), multi-robot systems that are capable of mobility, manipulation, sensing, display, and interaction both with the user and the environment. In order to better understand interaction with this new class of robots, specifically on how to enable robots to effectively interact and communicate with people, I develop new tabletop swarm robot platforms, design multimodal multi-robot interaction, and evaluate them through a set of human subject experiments. As non-humanoid robots lack anthropomorphic features that have been heavily relied upon for human interaction, I leverage a feature common across most, if not all, types of robots: mobility. Specifically, I study how to visually display information like expresssivenss and intent to users through multi-robot motion, and how to convey information through touch from the robots. Closing the loop, I also investigate how people naturally communicate with a swarm of robots. In summary, this thesis provides a deeper understanding of interactive ubiquitous robots as well as generating a rich set of guidelines to increase effective human-multirobot interaction.


Type of resource text
Form electronic resource; remote; computer; online resource
Extent 1 online resource.
Place California
Place [Stanford, California]
Publisher [Stanford University]
Copyright date 2020; ©2020
Publication date 2020; 2020
Issuance monographic
Language English


Author Kim, Lawrence H
Degree supervisor Follmer, Sean
Thesis advisor Follmer, Sean
Thesis advisor Landay, James A, 1967-
Thesis advisor Okamura, Allison
Degree committee member Landay, James A, 1967-
Degree committee member Okamura, Allison
Associated with Stanford University, Department of Mechanical Engineering.


Genre Theses
Genre Text

Bibliographic information

Statement of responsibility Lawrence H. Kim.
Note Submitted to the Department of Mechanical Engineering.
Thesis Thesis Ph.D. Stanford University 2020.
Location electronic resource

Access conditions

© 2020 by Lawrence H Kim
This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).

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