Abstract
In this article, we present the user-centered development of the service robot IURO. IURO’s goal is to find the way to a designated place in town without any previous map knowledge, just by retrieving information from asking pedestrians for directions. We present the 3-years development process,which involved a series of studies on its appearance, communication model, feedback modalities, and social navigation mechanisms. Our main contribution lies within the final field trial.With the autonomous IURO platform, we performed a series of six way-finding runs (over 24 hours of run-time in total) in the city center of Munich, Germany. The robot interacted with approximately 100 pedestrians of which 36 interactions included a full route dialogue. A variety of empirical methods was used to explore reactions of primary users (pedestrians who actually interacted with the robot) and secondary users (bystanders who observed others interacting). The gathered data provides insights into usability, user experience, and acceptance of IURO and allowed us deriving recommendations for the development of other socially interactive robots.
References
[1] S. Sabanovic, S. Reeder, and B. Kechavarzi, “Designing robots in thewild: In situ prototype evaluation for a breakmanagement robot,” Journal ofHuman-Robot Interaction, vol. 3, no. 1, pp. 70– 88, 2014. 10.5898/JHRI.3.1.SabanovicSearch in Google Scholar
[2] N. Mirnig, B. Gonsior, S. Sosnowski, C. Landsiedel, D. Wollherr, A. Weiss, and M. Tscheligi, “Feedback guidelines for multimodal human-robot interaction: Howshould a robot give feedback when asking for directions?” in RO-MAN, 2012 IEEE. IEEE, 2012, pp. 533–538. 10.1109/ROMAN.2012.6343806Search in Google Scholar
[3] S. Sabanovic, M. P. Michalowski, and R. Simmons, “Robots in the wild: Observing human-robot social interaction outside the lab,” in Advanced Motion Control, 2006. 9th IEEE International Workshop on. IEEE, 2006, pp. 596–601. Search in Google Scholar
[4] L. Suchman, Human-machine reconfigurations: Plans and situated actions. Cambridge University Press, 2007. 10.1017/CBO9780511808418Search in Google Scholar
[5] L. Suchman, “Reconfiguring human-robot relations,” in Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on. IEEE, 2006, pp. 652–654. 10.1109/ROMAN.2006.314474Search in Google Scholar
[6] M. Mataric, “Situated robotics,” in Encyclopedia of cognitive science. Wiley Online Library, 2002. Search in Google Scholar
[7] K. Dautenhahn, “Robots in the wild: Exploring human-robot interaction in naturalistic environments,” Interaction Studies, vol. 10, no. 3, pp. 269–273, 2009. 10.1075/is.10.3.01dauSearch in Google Scholar
[8] S. N. Woods, M. L. Walters, K. L. Koay, and K. Dautenhahn, “Methodological issues in hri: A comparison of live and videobased methods in robot to human approach direction trials,” in Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on. IEEE, 2006, pp. 51–58. 10.1109/ROMAN.2006.314394Search in Google Scholar
[9] Q. Xu, J. S. L. Ng, Y. L. Cheong, O. Y. Tan, J. B. Wong, B. T. C. Tay, and T. Park, “Effect of scenario media on human-robot interaction evaluation,” in Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction. ACM, 2012, pp. 275–276. 10.1145/2157689.2157791Search in Google Scholar
[10] E. Pacchierotti, H. I. Christensen, and P. Jensfelt, “Embodied social interaction for service robots in hallway environments,” in Field and Service Robotics. Springer, 2006, pp. 293–304. 10.1007/978-3-540-33453-8_25Search in Google Scholar
[11] M. L. Walters, K. Dautenhahn, K. L. Koay, C. Kaouri, R. t. Boekhorst, C. Nehaniv, I. Werry, and D. Lee, “Close encounters: Spatial distances between people and a robot of mechanistic appearance,” in Humanoid Robots, 2005 5th IEEE-RAS International Conference on. IEEE, 2005, pp. 450–455. Search in Google Scholar
[12] M. L. Walters, K. Dautenhahn, R. Te Boekhorst, K. L. Koay, D. S. Syrdal, and C. L. Nehaniv, “An empirical framework for humanrobot proxemics,” Procs of New Frontiers in Human-Robot Interaction, 2009. Search in Google Scholar
[13] M. L. Walters, D. S. Syrdal, K. L. Koay, K. Dautenhahn, and R. Te Boekhorst, “Human approach distances to a mechanicallooking robot with different robot voice styles,” in Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on. IEEE, 2008, pp. 707– 712. 10.1109/ROMAN.2008.4600750Search in Google Scholar
[14] E. T. Hall and E. T. Hall, The hidden dimension. Anchor Books New York, 1969, vol. 1990. Search in Google Scholar
[15] N. Bergstrom, T. Kanda, T. Miyashita, H. Ishiguro, and N. Hagita, “Modeling of natural human-robot encounters,” in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. IEEE, 2008, pp. 2623–2629. 10.1109/IROS.2008.4650896Search in Google Scholar
[16] J. Zlotowski, A. Weiss, and M. Tscheligi, “Navigating in public space: participants’ evaluation of a robot’s approach behavior,” in Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction. ACM, 2012, pp. 283– 284. 10.1145/2157689.2157795Search in Google Scholar
[17] K. Dautenhahn, M. Walters, S. Woods, K. L. Koay, C. L. Nehaniv, A. Sisbot, R. Alami, and T. Siméon, “Howmay i serve you? Arobot companion approaching a seated person in a helping context,” in Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction. ACM, 2006, pp. 172–179. 10.1145/1121241.1121272Search in Google Scholar
[18] K. L. Koay, K. Dautenhahn, S. Woods, and M. L.Walters, “Empirical results from using a comfort level device in human-robot interaction studies,” in Proceedings of the 1stACMSIGCHI/SIGART conference on Human-robot interaction. ACM, 2006, pp. 194– 201. 10.1145/1121241.1121276Search in Google Scholar
[19] T. Kanda, M. Shiomi, Z. Miyashita, H. Ishiguro, and N. Hagita, “An affective guide robot in a shopping mall,” in Proceedings of the 4th ACM/IEEE international conference on Human robot interaction. ACM, 2009, pp. 173–180. 10.1145/1514095.1514127Search in Google Scholar
[20] K. Kamei, K. Shinozawa, T. Ikeda, A. Utsumi, T. Miyashita, and N. Hagita, “Recommendation from robots in a real-world retail shop,” in International Conference onMultimodal Interfaces and the Workshop on Machine Learning for Multimodal Interaction. ACM, 2010, p. 19. 10.1145/1891903.1891929Search in Google Scholar
[21] T. Kanda, M. Shiomi, Z. Miyashita, H. Ishiguro, and N. Hagita, “A communication robot in a shoppingmall,” Robotics, IEEE Transactions on, vol. 26, no. 5, pp. 897–913, 2010. 10.1109/TRO.2010.2062550Search in Google Scholar
[22] S. Satake, T. Kanda, D. F. Glas, M. Imai, H. Ishiguro, and N. Hagita, “How to approach humans? - srategies for social robots to initiate interaction,” in Human-Robot Interaction (HRI), 2009 4th ACM/IEEE International Conference on. IEEE, 2009, pp. 109–116. 10.1145/1514095.1514117Search in Google Scholar
[23] M. Shiomi, T. Kanda, D. F. Glas, S. Satake, H. Ishiguro, and N. Hagita, “Field trial of networked social robots in a shoppingmall,” in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. IEEE, 2009, pp. 2846– 2853. 10.1109/IROS.2009.5354242Search in Google Scholar
[24] Y. Nakauchi and R. Simmons, “A social robot that stands in line,” Autonomous Robots, vol. 12, no. 3, pp. 313–324, 2002. 10.1023/A:1015273816637Search in Google Scholar
[25] Y. Yamaji, T. Miyake, Y. Yoshiike, P. R. De Silva, and M. Okada, “Stb: human-dependent sociable trash box,” in Human-Robot Interaction (HRI), 2010 5th ACM/IEEE International Conference on. IEEE, 2010, pp. 197–198. 10.1109/HRI.2010.5453196Search in Google Scholar
[26] J. Zlotowski, A. Weiss, and M. Tscheligi, “Interaction scenarios for hri in public space,” in Social Robotics. Springer, 2011, pp. 1–10. 10.1007/978-3-642-25504-5_1Search in Google Scholar
[27] A. Weiss, N. Mirnig, R. Buchner, F. Förster, and M. Tscheligi, “Transferring human-human interaction studies to hri scenarios in public space,” in Human-Computer Interaction–INTERACT 2011. Springer Berlin Heidelberg, 2011, pp. 230–247. 10.1007/978-3-642-23771-3_18Search in Google Scholar
[28] R. Buchner, A. Weiss, and M. Tscheligi, “Development of a context model based on video analysis,” in HRI ’11: Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction. ACM, 2011, pp. 117–118. 10.1145/1957656.1957689Search in Google Scholar
[29] A. Bauer, K. Klasing, G. Lidoris, Q. Mühlbauer, F. Rohrmüller, S. Sosnowski, T. Xu, K. Kühnlenz, D.Wollherr, and M. Buss, “The autonomous city explorer: Towards natural human-robot interaction in urban environments,” International Journal of Social Robotics, vol. 1, no. 2, pp. 127–140, 2009. 10.1007/s12369-009-0011-9Search in Google Scholar
[30] F. Förster, A. Weiss, and M. Tscheligi, “Anthropomorphic design for an interactive urban robot: the right design approach,” in Proceedings of the 6th international conference on Humanrobot interaction. ACM, 2011, pp. 137–138. 10.1145/1957656.1957699Search in Google Scholar
[31] B. Gonsior, C. Landsiedel, A. Glaser, D. Wollherr, and M. Buss, “Dialog strategies for handling miscommunication in taskrelated hri,” in Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (Ro-Man), Atlanta, GA, USA, 2011, pp. 369–375. 10.1109/ROMAN.2011.6005197Search in Google Scholar
[32] N. Mirnig, A. Weiss, and M. Tscheligi, “A communication structure for human-robot itinerary requests,” in HRI ’11: Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction. ACM, 2011, pp. 205–206. 10.1145/1957656.1957733Search in Google Scholar
[33] N. Mirnig, S. Riegler, A. Weiss, and M. Tscheligi, “A case study on the effect of feedback on itinerary requests in human-robot interaction,” in RO-MAN 2010: Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 2011, pp. 343–349. 10.1109/ROMAN.2011.6005260Search in Google Scholar
[34] B. Gonsior, S. Sosnowski, C. Mayer, J. Blume, B. Radig, D. Wollherr, and K. Kühnlenz, “Improving aspects of empathy and subjective performance for hri through mirroring facial expressions,” in Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), Atlanta, GA, USA, 2011, pp. 350– 356. 10.1109/ROMAN.2011.6005294Search in Google Scholar
[35] B. Gonsior, S. Sosnowski, M. Buß, D. Wollherr, and K. Kuhnlenz, “An emotional adaption approach to increase helpfulness towards a robot,” in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE, 2012, pp. 2429– 2436. 10.1109/IROS.2012.6385941Search in Google Scholar
[36] N. Mirnig, E. Strasser, A. Weiss, B. Kühnlenz, D. Wollherr, and M. Tscheligi, “Can you read my face?” International Journal of Social Robotics, pp. 1–14, 2014. 10.1007/s12369-014-0261-zSearch in Google Scholar
[37] D. Carton, A. Turnwald, D. Wollherr, and M. Buss, “Proactively approaching pedestrians with an autonomous mobile robot in urban environments,” in 13th International Symposium on Experimental Robotics (ISER), 2012. 10.1007/978-3-319-00065-7_15Search in Google Scholar
[38] M. Buss, D. Carton, B. Gonsior, K. Kühnlenz, C. Landsiedel, N. Mitsou, R. de Nijs, J. Zlotowski, S. Sosnowski, E. Strasser et al., “Towards proactive human-robot interaction in human environments,” in Cognitive Infocommunications (CogInfoCom), 2011 2nd International Conference on. IEEE, 2011, pp. 1–6. Search in Google Scholar
[39] N. Mirnig, E. Strasser, A. Weiss, and M. Tscheligi, “Studies in public places as a means to positively influence people’s attitude towards robots,” in Social Robotics. Springer, 2012, pp. 209–218. 10.1007/978-3-642-34103-8_21Search in Google Scholar
[40] U. Bruckenberger, A. Weiss, N. Mirnig, E. Strasser, S. Stadler, and M. Tscheligi, “The good, the bad, the weird: Audience evaluation of a “real” robot in relation to science fiction and mass media,” in ICSR2013: Proceedings of the 5th International Conference on Social Robotics. Springer International Publishing, 2013, pp. 301–310. 10.1007/978-3-319-02675-6_30Search in Google Scholar
[41] A. Weiss, J. Igelsböck, M. Tscheligi, A. Bauer, K. Kühnlenz, D.Wollherr, and M. Buss, “Robots asking for directions: thewillingness of passers-by to support robots,” in Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction. IEEE Press, 2010, pp. 23–30. 10.1145/1734454.1734468Search in Google Scholar
© 2015 A. Weiss et al.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.