AJung Moon
* Ph.D. (Student) Mechanical Engineering, University of British Columbia (2012 - present)
* MASc. Mechanical Engineering, University of British Columbia (2012)
* BASc. Honours Mechatronics Engineering, Minor in Philosophy, University of Waterloo (2009)
Supervisors: Elizabeth Croft and H.F. Machiel Van der Loos
Phone: 1.604.822.3147
Address: Mailing Address:
Department of Mechanical Engineering, UBC
6250 Applied Science Lane
Vancouver, BC CANADA V6T 1Z4
Street Address:
Room X015 ICICS Building
2366 Main Mall, UBC Campus
* MASc. Mechanical Engineering, University of British Columbia (2012)
* BASc. Honours Mechatronics Engineering, Minor in Philosophy, University of Waterloo (2009)
Supervisors: Elizabeth Croft and H.F. Machiel Van der Loos
Phone: 1.604.822.3147
Address: Mailing Address:
Department of Mechanical Engineering, UBC
6250 Applied Science Lane
Vancouver, BC CANADA V6T 1Z4
Street Address:
Room X015 ICICS Building
2366 Main Mall, UBC Campus
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Papers by AJung Moon
When two people reach for the same object at the same time, they often respond to an imminent
potential collision with jerky halting hand motions that we term hesitation gestures. Successful
implementation of such communicative conflict response behaviour onto robots can be useful. In
a myriad of human-robot interaction contexts involving shared spaces and objects, this behaviour
can provide a fast and effective means for robots to express awareness of conflict and cede
right-of-way during collaborative work with users. Our previous work suggests that when a
six-degree-of-freedom (6-DOF) robot traces a simplified trajectory of recorded human hesitation
gestures, these robot motions are also perceived by humans as hesitation gestures. In this work, we
present a characteristic motion profile derived from the recorded human hesitation motions, called
the Acceleration-based Hesitation Profile (AHP). We test its efficacy to generate communicative
hesitation responses by a robot in a fast-paced human-robot interaction experiment.
Compared to traditional abrupt stopping behaviours, we did not find sufficient evidence that the
AHP-based robot responses improve human perception of the robot or human-robot task completion
time. However, results from our in situ experiment suggest that subjects can recognize AHP-based
robot responses as hesitations and distinguish them to be different from abrupt stopping behaviours.
develop a natural means of managing shared resources in human-robot collaboration contexts. In this thesis, hesitation gestures are developed as a communicative mechanism for robots to respond to human-robot resource conflicts.
In the first of the three studies presented in this thesis (Study I), a pilot experiment and six online surveys provided empirical demonstrations that humans perceive hesitations from robot trajectories mimicking human hesitation motions. Using the set of human motions recorded from Study I, a characteristic acceleration profile of hesitation gestures was extracted and distilled into a trajectory design specification representing hesitation, namely the Acceleration-based Hesitation Profile (AHP). In Study II, the efficacy of AHP was tested and validated. In Study III, the impact of AHP-based robot motions was investigated in a Human-Robot Shared-Task (HRST) experiment.
The results from these studies indicate that AHP-based robot responses are perceived by human observers to convey hesitation, both in observational and in situ contexts. The results also demonstrate that AHP-based responses, when compared with the abrupt collision avoidance responses typical of industrial robots, do not significantly improve or hinder human perception of the robot and human-robot team performance.
The main contribution of this work is an empirically validated trajectory design that can be used to convey a robot’s state of hesitation in real-time to human observers, while achieving the same collision avoidance function as a traditional collision avoidance trajectory.
public are growing increasingly concerned with its ethical, legal, and societal (ELS) implications.
We posit that open and transparent stakeholder discussions about the technology
can not only inform development and revision of standards and regulations, but also help
develop a framework for advancing robot ethics. The Open Roboethics initiative (ORi),
described in this work, aims to be a dynamic online platform that connects various stakeholders
of robotics technology to advance roboethics discussion and foster informed robot
ethics design.
Using a robotic platform, PR2 (Willow Garage, CA), operating on the widely popular
and open-source Robot Operating System (ROS), we present a proof of concept of the ORi
idea by demonstrating one method in which stakeholder discussion of acceptable robot
behaviours can be implemented in a robotic platform.
provides communicative cues for conflict resolution during
collaborative reaching scenarios.
Watch the paper abstract in 20 seconds: http://www.youtube.com/watch?v=d-16V6g3V2Q
Talks by AJung Moon
When two people reach for the same object at the same time, they often respond to an imminent
potential collision with jerky halting hand motions that we term hesitation gestures. Successful
implementation of such communicative conflict response behaviour onto robots can be useful. In
a myriad of human-robot interaction contexts involving shared spaces and objects, this behaviour
can provide a fast and effective means for robots to express awareness of conflict and cede
right-of-way during collaborative work with users. Our previous work suggests that when a
six-degree-of-freedom (6-DOF) robot traces a simplified trajectory of recorded human hesitation
gestures, these robot motions are also perceived by humans as hesitation gestures. In this work, we
present a characteristic motion profile derived from the recorded human hesitation motions, called
the Acceleration-based Hesitation Profile (AHP). We test its efficacy to generate communicative
hesitation responses by a robot in a fast-paced human-robot interaction experiment.
Compared to traditional abrupt stopping behaviours, we did not find sufficient evidence that the
AHP-based robot responses improve human perception of the robot or human-robot task completion
time. However, results from our in situ experiment suggest that subjects can recognize AHP-based
robot responses as hesitations and distinguish them to be different from abrupt stopping behaviours.
develop a natural means of managing shared resources in human-robot collaboration contexts. In this thesis, hesitation gestures are developed as a communicative mechanism for robots to respond to human-robot resource conflicts.
In the first of the three studies presented in this thesis (Study I), a pilot experiment and six online surveys provided empirical demonstrations that humans perceive hesitations from robot trajectories mimicking human hesitation motions. Using the set of human motions recorded from Study I, a characteristic acceleration profile of hesitation gestures was extracted and distilled into a trajectory design specification representing hesitation, namely the Acceleration-based Hesitation Profile (AHP). In Study II, the efficacy of AHP was tested and validated. In Study III, the impact of AHP-based robot motions was investigated in a Human-Robot Shared-Task (HRST) experiment.
The results from these studies indicate that AHP-based robot responses are perceived by human observers to convey hesitation, both in observational and in situ contexts. The results also demonstrate that AHP-based responses, when compared with the abrupt collision avoidance responses typical of industrial robots, do not significantly improve or hinder human perception of the robot and human-robot team performance.
The main contribution of this work is an empirically validated trajectory design that can be used to convey a robot’s state of hesitation in real-time to human observers, while achieving the same collision avoidance function as a traditional collision avoidance trajectory.
public are growing increasingly concerned with its ethical, legal, and societal (ELS) implications.
We posit that open and transparent stakeholder discussions about the technology
can not only inform development and revision of standards and regulations, but also help
develop a framework for advancing robot ethics. The Open Roboethics initiative (ORi),
described in this work, aims to be a dynamic online platform that connects various stakeholders
of robotics technology to advance roboethics discussion and foster informed robot
ethics design.
Using a robotic platform, PR2 (Willow Garage, CA), operating on the widely popular
and open-source Robot Operating System (ROS), we present a proof of concept of the ORi
idea by demonstrating one method in which stakeholder discussion of acceptable robot
behaviours can be implemented in a robotic platform.
provides communicative cues for conflict resolution during
collaborative reaching scenarios.
Watch the paper abstract in 20 seconds: http://www.youtube.com/watch?v=d-16V6g3V2Q