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In-Depth Information
In detail, the processes are as follows. In the first turn, the player pointed out one
of the blocks. If the block was the right one, the manipulator nodded and communica-
tion continued to the next turn. If the block was wrong, the manipulator shook her/his
head and the player repeated the first turn. In the second turn, the player brought the
block to the manipulator and the manipulator directed the player to rotate the block.
Then, the player put the block on the building. If the placed position and direction was
right, the manipulator nodded and communication returned to the first turn until they
completed the building. If the position or direction was wrong, the manipulator shook
her/his head. Then, the player placed the block on the desk and repeated the second
turn.
Fig. 6.
Example buildings
5.2
Evaluation Method and Hypothesis
Based on the findings from the previous sections, we compared the humanlike group
and head-fixed group for validating the proposed method. In the humanlike group, the
manipulator could handle the PoRoS robot without any restrictions. However, in
the head-fixed group, the neck motor switches were turned off by the system and the
manipulator could not control them.
This restriction forced both manipulator and player to use other confirmatory be-
haviors for turn-taking or it forced both persons to use different communication
strategies. When they selected communication strategies other than the turn-taking
method, the confirmatory behavior decreased in the head-fixed group.
5.3
Environment for the Experiment
The experimental setup is shown in Fig. 7 left. The manipulator and the player are in
separate rooms. The robot is fixed on a desk and placed in front of the player. There
are eight blocks on the desk between the player and the robot. The viewpoints of the
camera and the robot are located in the same direction. The manipulator can confirm
the face of the player. All input and output data are recorded and stored in the data
server for later analysis.
We show the scene of manipulation in Fig. 7 right. The manipulator is standing on
the left side of Fig. 7 right. Motion-capturing cameras surround him. The video screen
is in front of the manipulator and the screen shows the robot, the blocks, and the play-
er as shown in the right top part of Fig. 7 right. An image of the building is pasted on
the right side of the screen, and the manipulator instructs the player how to assemble
the blocks via the robot.
