Information Technology Reference
In-Depth Information
2
Related Studies
In spite of differences in policy, there are several similarities between previous ap-
proaches and ours. In this section, we compare our work to related studies and clarify
our contribution.
2.1
Wizard of Oz
The Wizard of Oz (WoZ) method is used mainly in evaluating computer interfaces
[16]. This method uses human manipulator as sensors to avoid unessential errors from
the evaluation. The WoZ experiment method is also widely used in the field of HRI.
Steinfeld et al. inferred several consequential evaluation methods (called Oz of Wi-
zard) from WoZ for evaluating robots behavior [17].
WoZ uses a human manipulator as part of the experimental interface system in-
stead of being autonomous. The manipulator behaves as the decision maker in the
system and selects the system behavior from a determined list. The role of the human
manipulator in WoZ is restricted to replace sensor actions. We extend the notion of
WoZ in the field of robotics using attachable and detachable robotic devices and sen-
sors. The entire robot input and output are directly connected to the manipulator, and
the manipulator behaves as an intelligent computer in finding the most optimal com-
munication strategies for each task using the specific robot shape and modalities.
2.2
Teleoperation Robot
Teleoperation robot studies also use manipulated robots. The robot design is some-
times verified and analyzed by recorded results. Kuzuoka et al. discussed the optimal
instructions in teleoperation [18]. However, teleoperation studies themselves are not
designed to find the optimal communication strategies in autonomous robotic sys-
tems. If the system behaves autonomously, it is not teleoperation anymore.
Several research groups proposed to use teleoperation to complement an autonom-
ous robot. Glas et al. proposed to use a human manipulator to guide the robot [19]. In
their approach, the robot behavior is replaced by the human manipulator if the task is
hard for the robot to solve. Thus, a human manipulator can temporarily possess the
robot. However, their study only focused on improving the task performance in a real
world human-robot interaction. This approach did not focus on feedback to optimize
communication strategies. They also hypothesized that the robot might use humanlike
modalities in the future. Other robot possibilities are also not well discussed in their
paper.
2.3
Marionette and Digital Puppetry
Marionette is a well-known art for making puppets behave lifelike (they are some-
times humanlike and sometimes nonhumanlike). Currently, the possibility of interac-
tive marionettes is accelerated by technology. They are called Digital Puppetries. This
