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The Effect of Gesture on Collaboration with an Autonomous Robot

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The Effect of Gesture on Collaboration with an Autonomous Robot 2010 The Effect of Gesture on Collaboration with an Autonomous Robot by Kevin O’Brien Joel Sutherland This report represents the work of two WPI undergraduate students submitted to the faculty as evidence of completion of a degree1 requirement. WPI routinely publishes these reports on its web site without editorial or peer review. The Effect of Gesture on Collaboration with an Autonomous Robot A Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by _________________________ Kevin O’Brien (Computer Science) _________________________ Joel Sutherland (Robotics Engineering) Approved: ____________________________ Prof. Charles Rich, Major Advisor 2 Abstract The goal of this project was to study the effect of robot gestures on the quality of collaboration between an autonomous robot and a human. We conducted a spoken-language human-robot interaction study with 26 participants which showed that adding robot head turns (to make eye contact with the human) and robot arm gestures (to point toward task-related objects) improved the human's perception of the robot's interaction skills and role as a good collaborator. These results have important implications for the design of human-robot interactions in general. Acknowledgements We would like to thank Professor Rich as well as Professor Candy Sidner and Professor Joe Beck for their expertise and support. This work is supported, in part, by the National Science Foundation under award IIS-0811942. 3 Table of Contents Chapter 1: Introduction .......................................................................................................................... 6 1.1 Background ................................................................................................................................... 6 1.2 Related Work ................................................................................................................................ 7 Chapter 2: Method.................................................................................................................................. 8 2.1 Study Concept ............................................................................................................................... 8 2.2 Study Design.................................................................................................................................. 9 Conditions ............................................................................................................................................. 9 Hypotheses ........................................................................................................................................... 9 Objective and Subjective Measures ...................................................................................................... 9 Preparation and Setup ........................................................................................................................ 11 2.3 Implementation .......................................................................................................................... 13 RS Media ............................................................................................................................................. 13 Spoken Communication ...................................................................................................................... 14 Study Execution................................................................................................................................... 17 Chapter 3: Results and Analysis ............................................................................................................ 18 3.1 Completion Time ......................................................................................................................... 18 3.2 Questionnaire Data ..................................................................................................................... 18 Perceived Completion Time ................................................................................................................ 19 Interaction Skills .................................................................................................................................. 20 Collaboration ....................................................................................................................................... 21 User Experience .................................................................................................................................. 22 3.3 Evaluation of Hypotheses ........................................................................................................... 22 Chapter 4: Conclusion and Recommendations ..................................................................................... 25 Appendices .................................................................................................................................................. 27 Appendix A: Raw Questionnaire Data ..................................................................................................... 27 Interaction Skills .................................................................................................................................. 27 Collaboration ....................................................................................................................................... 28 User Experience .................................................................................................................................. 29 Appendix B: Scenario Script: “Gauntlet” ................................................................................................. 30 4 Appendix C: Informed Consent ............................................................................................................... 35 Appendix D: XML Grammar Used in Girder ............................................................................................ 38 Appendix E: Command Sheet.................................................................................................................. 39 Appendix F: Questionnaire ..................................................................................................................... 40 References .................................................................................................................................................. 41 Table of Figures FIGURE 1: HUMANOID ROBOT RSMEDIA ...................................................................................................................... 8 FIGURE 2: QUESTIONNAIRE SCREENSHOT ................................................................................................................... 11 FIGURE 3 RSMEDIA ROBOT CONSTRAINTS .................................................................................................................. 13 FIGURE 4: RSMEDIA SUITE SCREENSHOT ..................................................................................................................... 14 FIGURE 5: INTERACTION SETUP ................................................................................................................................... 15 FIGURE 6: GIRDER ........................................................................................................................................................ 16 FIGURE 7: HARDWARE COMMUNICATION INTERFACE ............................................................................................... 16 FIGURE 8: RECORDED COMPLETION TIME .................................................................................................................. 18 FIGURE 9: DIFFERENCE IN PERCEIVED VS. ACTUAL COMPLETION TIME...................................................................... 19 FIGURE 10: INTERACTION SKILLS ................................................................................................................................. 20 FIGURE 11: COLLABORATION ...................................................................................................................................... 21 FIGURE 12: USER EXPERIENCE ..................................................................................................................................... 22 FIGURE 13 CONTROL CONDITION ................................................................................................................................ 23 FIGURE 14 FOREST ....................................................................................................................................................... 30 FIGURE 15 SHIELD GENERATOR ................................................................................................................................... 31 FIGURE 16 BOMB ......................................................................................................................................................... 32 FIGURE 17 ALIEN BASE ................................................................................................................................................. 33 5 Chapter 1: Introduction Robots have the potential to automate many tasks in the future, from selling books to informing a passerby where the nearest hovercraft station is. For robots to do this effectively, they will need to communicate with humans and be able
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