Proactive communication for human-robot interaction
Abstract/Contents
- Abstract
- As robots move from isolated industrial settings into everyday human environments, we need to consider how they should interact with people. Emerging applications range from delivery and support in warehouses, to home and social services. Compared to isolated workspaces, human environments impose more challenges. For example, in social navigation, the robot needs to reach its destination while avoiding people and navigating in a socially compliant way. However, human behaviors are usually complex, stochastic, and hard to predict, which creates difficulties for the robot to plan appropriate actions. To address these challenges, this thesis focuses on the use of simple, proactive haptic communication to facilitate interactions with humans in various scenarios. The core research idea is that, instead of reacting to humans in the environment, the robot should proactively use communication to exchange information and affect human behaviors. This thesis addresses the following topics: (1) the effects of communication on human behavior, (2) mathematical models that predict these effects and human actions, and (3) algorithms to plan for communications that improve efficiency and performance of the human-robot system. We study these topics in the context of three applications. We first present the design and application of a bidirectional communication scheme for a person-following robot. Then we discuss the use of implicit and explicit communication in a mobile robot social navigation scenario. Finally, we present methods for communicating directional information for human navigation guidance.
Description
| 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 | 2018; ©2018 |
| Publication date | 2018; 2018 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Che, Yuhang |
|---|---|
| Degree supervisor | Okamura, Allison |
| Thesis advisor | Okamura, Allison |
| Thesis advisor | Follmer, Sean |
| Thesis advisor | Sadigh, Dorsa |
| Degree committee member | Follmer, Sean |
| Degree committee member | Sadigh, Dorsa |
| Associated with | Stanford University, Department of Mechanical Engineering. |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Yuhang Che. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2018. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2018 by Yuhang Che
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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