© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Human–Robot Interaction
An Introduction
Christoph Bartneck, Tony Belpaeme, Friederike Eyssel,
Takayuki Kanda, Merel Keijsers, Selma Šabanović
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Contents
List of illustrations
List of tables
viii
xi
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
Introduction
About this book
Christoph Bartneck
Tony Belpaeme
Friederike Eyssel
Takayuki Kanda
Merel Keijsers
Selma Šabanović
2
2.1
2.2
2.3
What Is Human–Robot Interaction?
The focus of this book
HRI as an interdisciplinary endeavor
The evolution of HRI
6
9
9
11
3
3.1
3.2
3.3
How a Robot Works
The making of a robot
Robot hardware
Sensors
18
19
20
22
22
25
27
27
28
28
30
31
31
31
33
34
36
37
39
3.3.1
3.3.2
3.3.3
3.3.4
3.4
Actuators
3.4.1
3.4.2
3.4.3
3.5
Motors
Pneumatic actuators
Speakers
Software
3.5.1
3.5.2
3.5.3
3.5.4
3.6
3.7
Vision
Audio
Tactile sensors
Other sensors
Software architecture
Software-implementation platform
Machine learning
Computer vision
Limitations of robotics for HRI
Conclusion
1
1
2
3
4
4
4
4
iii
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
iv
4
4.1
Contents
Design
Design in HRI
4.1.1
4.1.2
4.1.3
4.1.4
4.2
Anthropomorphization in HRI Design
4.2.1
4.2.2
4.2.3
4.2.4
4.3
Robot morphology and form
Affordances
Design patterns
Design principles in HRI
Anthropomorphization and robots
Theorizing anthropomorphism
Designing anthropomorphism
Measuring anthropomorphization
Design methods
4.3.1
4.3.2
4.3.3
Engineering design process
User-centered design process
Participatory design
4.4
4.5
4.6
4.7
Prototyping tools
Culture in HRI design
From machines to people, and the in between
Conclusion
5
5.1
Spatial Interaction
Use of space in human interaction
5.1.1
5.1.2
5.2
Proxemics
Group spatial interaction dynamics
Spatial interaction for robots
5.2.1
5.2.2
5.2.3
5.2.4
Localization and navigation
Socially appropriate positioning
Spatial dynamics of initiating HRI
Informing users of the robot’s intent
5.3
Conclusion
6
6.1
6.2
Nonverbal Interaction
Functions of nonverbal cues in interaction
Types of nonverbal interaction
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.3
Gaze and eye movement
Gesture
Mimicry and Imitation
Touch
Posture and movement
Interaction rhythm and timing
Nonverbal interaction in robots
6.3.1
6.3.2
Robot perception of nonverbal cues
Generating nonverbal cues in robots
6.4
Conclusion
7
7.1
Verbal Interaction
Human–human verbal interaction
7.1.1
7.1.2
Components of speech
Written text versus spoken language
41
43
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45
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47
49
51
53
56
56
57
58
60
61
63
64
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81
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98
98
99
100
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Contents
7.2
Speech recognition
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.3
v
Basic principles of speech recognition
Limitations
Practice in HRI
Voice-activity detection
Language understanding in HRI
Dialogue management
7.3.1
7.3.2
Basic principle
Practice in HRI
7.4
Speech production
7.5
Conclusion
8
8.1
Emotion
What are emotions, mood, and affect?
8.2
8.3
8.4
Understanding human emotions
When emotions go wrong
Emotions for robots
7.4.1
8.1.1
8.4.1
8.4.2
8.4.3
8.4.4
Practice in HRI
Emotion and interaction
Emotion interaction strategies
Artificial perception of emotions
Expressing emotions with robots
Emotion models
8.5
Challenges in affective HRI
9
9.1
Research Methods
Defining a research question and approach
9.1.1
9.1.2
9.2
Is your research exploratory or confirmatory?
Are you establishing correlation or causation?
Choosing among qualitative, quantitative, and mixed methods
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
9.2.7
User studies
System studies
Observational studies
Ethnographic studies
Conversational analysis
Crowdsourced studies
Single-Subject Studies
9.3
Selecting research participants and study designs
9.4
Defining the context of interaction
9.3.1
9.4.1
9.4.2
9.4.3
9.5
9.6
Location of study
Temporal context of HRI
Social units of interaction in HRI
Choosing a robot for your study
Setting up the mode of interaction
9.6.1
9.6.2
9.7
9.8
Study design
Wizard of Oz
Real versus simulated interaction
Selecting appropriate HRI measures
Research standards
101
101
103
103
104
104
106
106
108
109
110
112
114
114
115
116
117
118
118
119
120
121
122
126
128
129
130
131
132
133
134
136
138
139
140
141
142
144
144
145
146
148
149
149
150
150
152
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
vi
Contents
9.8.1
9.8.2
9.8.3
9.8.4
Changing standards of statistical analysis
Power
Generalizability and replication
Ethical considerations in HRI studies
9.9
Conclusion
10
10.1
Applications
Service robots
10.1.1 Tour guide robots
10.1.2 Receptionist robots
10.1.3 Robots for sales promotion
10.2
10.3
Robots for learning
Robots for entertainment
10.3.1
10.3.2
10.3.3
10.3.4
10.4
Pet and toy robots
Robots for exhibitions
Robots in the performing arts
Sex robots
Robots in healthcare and therapy
10.4.1 Robots for senior citizens
10.4.2 Robots for people with autism spectrum disorder
10.4.3 Robots for rehabilitation
10.5
10.6
10.7
10.8
10.9
10.10
10.11
Robots as personal assistants
Service robots
Collaborative robots
Self-driving cars
Remotely operated robots
Future applications
Problems for robot application
10.11.1 Addressing user expectations
10.11.2 Addiction
10.11.3 Attention theft
10.11.4 Loss of interest by user
10.11.5 Robot abuse
10.12 Conclusion
11
11.1
Robots in Society
Robots in popular media
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.2
Robots want to be humans
Robots as a threat to humanity
Superior robots being good
Similarity between humans and robots
Narratives of robotic science
Ethics in HRI
11.2.1 Robots in research
11.2.2 Robots to fulfill emotional needs
11.2.3 Robots in the workplace
11.3
Conclusion
152
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169
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182
182
185
186
187
188
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189
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192
193
194
197
198
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Contents
12
12.1
12.2
12.3
The Future
The nature of human–robot relationships
The technology of HRI
Crystal ball problems
References
Index
Notes
vii
201
203
205
206
209
247
252
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Illustrations
1.1
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
3.13
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
4.11
4.12
4.13
4.15
4.14
The authors of the book
Asimo robot
Barriers between the disciplines.
Kismet robot
Nao robot
Keepon robot
Paro robot
Baxter robot
InMoov robot
Kaspar robot
The camera’s data translated into a grid of grayscale pixels.
Aibo ERS-1000 robot
Pepper robot
Array of CCDs in RGB camera.
Microsoft Kinect 2
PR2 robot
iCub robot
Robotic Arm
Kuka robot
RoboThespian robot
Sense-plan-act model.
The subsumption behavior-based architecture.
Canny edge detection
TurtleBot
Mythical robots
Robovie-MR2 robot
Muu, Keepon, Naked Invisible Guy
Sociable Trash Box robots
Philip K. Dick Robot
Face on Mars
Geminoid HI 4 robot
Keepon, Wakamaru, Nao, Asimo, and a Kokoro robot
Mori’s Uncanny Valley theory.
Boy learning math with a robot.
Snackbot
LEGO Mindstorms robot
Quality
Robert M. Pirsig
3
8
10
13
14
14
15
15
16
16
19
21
22
23
25
26
26
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30
30
32
33
34
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43
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44
48
49
50
50
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60
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66
viii
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Illustrations
5.1
5.2
5.3
5.4
5.5
5.6
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
7.1
7.2
7.3
8.1
8.2
8.3
8.4
8.5
8.6
9.1
9.2
9.3
9.4
9.5
9.6
10.1
10.2
10.3
10.4
10.5
10.6
10.7
10.8
10.9
10.10
10.11
10.12
10.13
10.14
10.15
10.16
11.1
11.2
11.3
Joggobot Drone
Commuters during rush hour on the Tokyo underground.
Intimate, personal, social, and public distance
F-Formations
A drone builds a probabilistic model of the human’s movement.
Proxemic Study
Nonverbal interaction between human and robot
Pupil dilation
iCub robot looking at object
Pepper robot
Chameleon effect
Telenoid robot
Nao robot expressing emotions
Choregraphe
Pepper in a Store
Data of a speech sample
Sarcasm and AI
eMuu, iCat and Flobi robot
Cozmo robot
The OCC model of emotions.
Russel’s circumplex model of affect.
The PAD emotion model
Tennis players expressing emotions.
Cat Roomba
Spurious correlation
The Turk
Robovie in school
Units of analysis in HRI
Guess the correlation game
The Sony Aibo ERS-7 with the Nao
Qrio and Kuri robot
The Robovie robot as a museum guide
Receptionist robot
Pleo robot
Animatronic robot.
EliQ robot
Papero
Nao, Elvis, Kaspar and Zeno robot
Personal assistant robots
K5 victim
Walt robot
Ghost car
Toyota’s T-HR3 robot
Packbot
A child kicking a robot in a shopping mall
Karel Čapek’s RUR
The Terminator
Isaac Asimov
ix
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92
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102
105
120
121
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146
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163
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168
169
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172
173
174
176
177
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179
179
182
186
188
193
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
x
12.1
12.2
12.3
Illustrations
Cimon robot
Friendships on Facebook
Stephen William Hawking
202
203
204
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
Tables
11.1
Topics of HRI in theater
189
xi
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019.
https://www.human-robot-interaction.org
This material has been published by Cambridge University Press as Human Robot Interaction by
Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic.
ISBN: 9781108735407 (http://www.cambridge.org/9781108735407).
This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works.