Intuitive Human-Robot Interaction by Intention Recognition

For two humans to interact with each other to perform a common task, they need to know the expectation of each other during interaction. For example if we consider an example of a waiter and a guest. If the waiter tilts the bottle to offer a drink to the guest then he may expect two actions from the guest, i.e., either the guest will forward his glass to get it filled or he will take his glass backward for not accepting the drink. If the guest forwards his glass then the waiter expects that the guest will keep his glass at a certain point until he pours the liquid into the glass. Similarly if the guest takes its glass backward then he expects from the waiter not to pour the liquid into his glass. In any case of misunderstanding an accident can occur. It applies to almost all the instances of human-human interaction. The recognition of the intention plays a key role in human-human interaction. It is equally important in human-robot interaction. With the increase of research in the field of robotics, the robots are and will be becoming more and more part of human life. For the robots to be the effective part of the human life they should be helpful to the human. For a robot to be helpful to the human he should act according to the human. In case if the robot tries to help the human without knowing the intention of the interacting human then the robot can be itself a problem rather than a solution to the problems. Therefore it is necessary for a robot to know the intention of the human with whom the robot is supposed to interact to facilitate him. The aim of this work is to propose a solution to make the human robot interaction intuitive. For making the human-robot interaction intuitive the intention of the human should be known to the interacting robot. A probabilistic approach is introduced to recognize the human intention. The approach uses the finite state machines. Each finite state machine representing a unique human intention carries a probabilistic value that is called the weight of the finite state machine. That weight tells the robot about the current human intention. Since it is not possible to embed all the possible intentions into the robot that the robot may need to recognize. Thus, there should be a measure that the robot can learn new human intentions. An approach is discussed for this purpose. For the human-robot interaction to be intelligent the robot should be quick in his response towards the human intention. An approach is described that addresses the issue of quick (proactive) response of the robot. The proposed approach also discusses the scenario concerning the ambiguous human intention. An ambiguous intention is a human intention that apparently corresponds to more than one human intention. There may be a scenario in which the human has a totally new intention that the robot does not know already and also has not learned that intention. In this case, apparently there is no human- robot interaction. In order to cope with this problem an approach is discussed that enables the robot to select an appropriate action to interact with the human. An approach concerning the generalization of the human intention is also discussed. By generalizing the human intention, the robot can extend its response according to the human intention. The extension of the response means that the robot takes those actions that were not instructed to him to be taken concerning the human intention.

Level thesis:degree_level

thesis.doctoral

Grantor dc:publisher

Universität Bayreuth

Year

2013

Author dc:creator

• Awais, Muhammad

Contributors dc:contributor

• Henrich, Dominik

Repository record source_url

https://epub.uni-bayreuth.de/id/eprint/165/

OAI identifier oai:identifier

oai:epub.uni-bayreuth.de:165