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[BHW15] Determining the Important Subjective Criteria in the Perception of Human-Like Robot Movements Using Virtual Reality
Revue Internationale avec comité de lecture : Journal International Journal of Humanoid Robotics, vol. 13(02), pp. 1-30, 2015, (doi:10.1142/S0219843615500334)Mots clés: Human-Robot Interaction, inverse kinematics, robot movement, human-like movements, virtual reality
Résumé:
This paper deals with the design and the evaluation of human-like robot movements. Three criteria were proposed and evaluated regarding their impact on the human-likeness of the robot movements: the inertia of the base, the inertia of the end-effector and the velocity profile. A specific tool was designed to generate different levels of anthropo-morphism according to these three parameters. An industrial use case was designed to compare several robot movements. This use case was implemented with a virtual robot arm in a virtual environment, using virtual reality. A user study was conducted to determine what were the important criteria in the perception of human-like robot movements and what were their correlations with other notions such as safety and preference. The results showed that inertia on the end-effector was of most importance for a movement to be perceived as human-like and non-aggressive, and that those characteristics helped the users feel safer, less stressed and more willing to work with the robot.
BibTeX
| @article { | |||
| BHW15, | |||
| title | = | "{Determining the Important Subjective Criteria in the Perception of Human-Like Robot Movements Using Virtual Reality}", | |
| author | = | "A. Buendia and O. Hugues and V. Weistroffer and A. Paljic and A. Abdul Karim and T. Gaudin and P. Fuchs", | |
| journal | = | "International Journal of Humanoid Robotics", | |
| year | = | 2015, | |
| volume | = | 13, | |
| number | = | 02, | |
| pages | = | "1-30", | |
| doi | = | "10.1142/S0219843615500334", | |
| } | |||
