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kind of system allows us to control humanlike and nonhumanlike robots [20]. Turtle
Talk with Crush is the most successful marionette in the commercial field [21]. It is a
screen agent that interactively changes its face and behavior according to people's
responses.
However, these studies are specialized to each robot's shape and modalities. Mani-
pulation requires not a small amount of training time although interface is supported
by today's technologies. This marionette system is not appropriate for the trial-and-
error approach that required in our method.
3
Designing the Possessed Robot Method
Possessed Robot method is a design method conducted by two participants. One par-
ticipant possesses a robot and behaves as if she/he is the robot. Another participant
interacting with robot.
Based on the differences to previous studies mentioned in above section, we esti-
mate that the following three sub goals are required to perform the Possessed Robot
method. First, the Possessed Robot method requires a reconfigurable robot body to
examine all kinds of robot shapes and modalities. Second, the manipulation method
must be easy for the human manipulator to allow frequent trial-and-error efforts.
Third, the system requires recording the interaction between the robot and the human
for later analysis.
The entire design process is described below:
Select the robot input and output, and configure the robot shape and modalities.
Assign two persons as the manipulator (who possesses the robot) and the player
(who follows the robot).
Connect the robot input and output to the manipulator. All connections are re-
quired to be understood and controlled by humans.
Two persons interact via the robot and conduct a task cooperatively. They repeat-
edly try to interact and gradually find the most optimal communication strategies for
the task. The system records the entire interaction.
The evaluators analyze the result of the interaction and the kind of modalities,
which are the most and least required. We also compare the results with the human-
human interaction findings, which is the original interaction setup for the robot.
This process brushes up the robot design. If we require a more detailed analysis, we
can also select more optimal shapes and modalities with the results from process 5,
and repeat the entire process.
4
System
We implemented PoRoS (Possessed Robot demonstrative System) to estimate the
validity of our process. We used a reconfigurable robot, a monitoring device to
capture movement, and a recording system to solve the sub goals mentioned in the
previous section.
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