International Conference on Advanced Robotics, Jun 22, 2009
ABSTRACT Code reuse in advanced robotics can be problematic due to the wide spectrum of robotic p... more ABSTRACT Code reuse in advanced robotics can be problematic due to the wide spectrum of robotic projects and little standardization. Although, in some cases, there are standardisations and tools that can be used, such as YARP, there are still many niches in the field unable to use these. This paper addresses some of the issues preventing these tools from being used. It concentrates on some widely used concepts such as genericity and modularity; and in particular it discusses encapsulation, generic templates, and work in progress towards software self-regulation and self-alteration. The paper also studies the grouping of modules into items which can recursively reside within larger items, leading to a platform designed to take these concepts into consideration. This allows such modules to be employed in an easy and efficient manner, allowing not only code re-use but also enabling concepts of self-repairing and self-maintenance robots. With this level of extendibility, SAMGAR aims to facilitate the implementation for intelligent agents and the migration of their ldquopersonalitiesrdquo (behaviour tendencies) from one physical embodiment to another. A proof of concept implementation using a robotics simulation environment is presented.
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
As we expect that the presence of autonomous robots in our everyday life will increase, we must c... more As we expect that the presence of autonomous robots in our everyday life will increase, we must consider that people will have not only to accept robots to be a fundamental part of their lives, but they will also have to trust them to reliably and securely engage them in collaborative tasks. Several studies showed that robots are more comfortable interacting with robots that respect social conventions. However, it is still not clear if a robot that expresses social conventions will gain more favourably people’s trust. In this study, we aimed to assess whether the use of social behaviours and natural communications can affect humans’ sense of trust and companionship towards the robots. We conducted a between-subjects study where participants’ trust was tested in three scenarios with increasing trust criticality (low, medium, high) in which they interacted either with a social or a non-social robot. Our findings showed that participants trusted equally a social and non-social robot in the low and medium consequences scenario. On the contrary, we observed that participants’ choices of trusting the robot in a higher sensitive task was affected more by a robot that expressed social cues with a consequent decrease of their trust in the robot.
As we expect that the presence of autonomous robots in our everyday life will increase, we must c... more As we expect that the presence of autonomous robots in our everyday life will increase, we must consider that people will have to trust robots to reliably and securely engage them in collaborative tasks. Our main research aims to assess whether a certain degree of transparency in the robots actions, the use of social behaviours and natural communications can affect humans’ sense of trust and companionship towards the robots. In this paper, we introduce the research topic and our approach to evaluate the impact of robot social behaviours on people’ trust of the robot. Future works will use the results collected during this study to create guidelines for designing a robot that is able to enhance human perceptions of trust and acceptability of robots in a safe Human-Robot Interaction.
When studying the use of assistive robots in home environments, and especially how such robots ca... more When studying the use of assistive robots in home environments, and especially how such robots can be personalised to meet the needs of the resident, key concerns are issues related to behaviour verification, behaviour interference and safety. Here, personalisation refers to the teaching of new robot behaviours by both technical and non-technical end users. In this article, we consider the issue of behaviour interference caused by situations where newly taught robot behaviours may affect or be affected by existing behaviours and thus, those behaviours will not or might not ever be executed. We focus in particular on how such situations can be detected and presented to the user. We describe the human–robot behaviour teaching system that we developed as well as the formal behaviour checking methods used. The online use of behaviour checking is demonstrated, based on static analysis of behaviours during the operation of the robot, and evaluated in a user study. We conducted a proof-of-...
International Conference on Advanced Robotics, Jun 22, 2009
ABSTRACT Code reuse in advanced robotics can be problematic due to the wide spectrum of robotic p... more ABSTRACT Code reuse in advanced robotics can be problematic due to the wide spectrum of robotic projects and little standardization. Although, in some cases, there are standardisations and tools that can be used, such as YARP, there are still many niches in the field unable to use these. This paper addresses some of the issues preventing these tools from being used. It concentrates on some widely used concepts such as genericity and modularity; and in particular it discusses encapsulation, generic templates, and work in progress towards software self-regulation and self-alteration. The paper also studies the grouping of modules into items which can recursively reside within larger items, leading to a platform designed to take these concepts into consideration. This allows such modules to be employed in an easy and efficient manner, allowing not only code re-use but also enabling concepts of self-repairing and self-maintenance robots. With this level of extendibility, SAMGAR aims to facilitate the implementation for intelligent agents and the migration of their ldquopersonalitiesrdquo (behaviour tendencies) from one physical embodiment to another. A proof of concept implementation using a robotics simulation environment is presented.
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
As we expect that the presence of autonomous robots in our everyday life will increase, we must c... more As we expect that the presence of autonomous robots in our everyday life will increase, we must consider that people will have not only to accept robots to be a fundamental part of their lives, but they will also have to trust them to reliably and securely engage them in collaborative tasks. Several studies showed that robots are more comfortable interacting with robots that respect social conventions. However, it is still not clear if a robot that expresses social conventions will gain more favourably people’s trust. In this study, we aimed to assess whether the use of social behaviours and natural communications can affect humans’ sense of trust and companionship towards the robots. We conducted a between-subjects study where participants’ trust was tested in three scenarios with increasing trust criticality (low, medium, high) in which they interacted either with a social or a non-social robot. Our findings showed that participants trusted equally a social and non-social robot in the low and medium consequences scenario. On the contrary, we observed that participants’ choices of trusting the robot in a higher sensitive task was affected more by a robot that expressed social cues with a consequent decrease of their trust in the robot.
As we expect that the presence of autonomous robots in our everyday life will increase, we must c... more As we expect that the presence of autonomous robots in our everyday life will increase, we must consider that people will have to trust robots to reliably and securely engage them in collaborative tasks. Our main research aims to assess whether a certain degree of transparency in the robots actions, the use of social behaviours and natural communications can affect humans’ sense of trust and companionship towards the robots. In this paper, we introduce the research topic and our approach to evaluate the impact of robot social behaviours on people’ trust of the robot. Future works will use the results collected during this study to create guidelines for designing a robot that is able to enhance human perceptions of trust and acceptability of robots in a safe Human-Robot Interaction.
When studying the use of assistive robots in home environments, and especially how such robots ca... more When studying the use of assistive robots in home environments, and especially how such robots can be personalised to meet the needs of the resident, key concerns are issues related to behaviour verification, behaviour interference and safety. Here, personalisation refers to the teaching of new robot behaviours by both technical and non-technical end users. In this article, we consider the issue of behaviour interference caused by situations where newly taught robot behaviours may affect or be affected by existing behaviours and thus, those behaviours will not or might not ever be executed. We focus in particular on how such situations can be detected and presented to the user. We describe the human–robot behaviour teaching system that we developed as well as the formal behaviour checking methods used. The online use of behaviour checking is demonstrated, based on static analysis of behaviours during the operation of the robot, and evaluated in a user study. We conducted a proof-of-...
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Papers by Kheng Lee Koay