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Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration

Pais, Ana ; Argall, Brenna ; Billard, Aude

In: International Journal of Social Robotics, 2013, vol. 5, no. 4, p. 477-490

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    Title
    • Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration
    Author
    • Pais, Ana. Learning Algorithms and Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
    • Argall, Brenna. Departments of EECS and PMR, Northwestern University, Chicago, IL, USA
    • Billard, Aude. Learning Algorithms and Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
    Document Type
    • Postprint
    Language
    • English
    Published in
    • International Journal of Social Robotics, 2013, vol. 5, no. 4, p. 477-490. Springer Netherlands
    Other Version
    OAI-PMH Identifier
    • oai:doc.rero.ch:311195
    Summary
    In this paper we focus on human-robot interaction peculiarities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presented. The first one validates facially displayed expressions on the iCub robot. The best recognized displays are then used in a second study, along with other ways of providing feedback during teaching a manipulation task to a robot. We determine the preferred and more effective way of providing feedback in relation to the robot's tactile sensing, in order to improve the teaching interaction and to keep the users engaged throughout the interaction