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Controlling social dynamics with a parametrized model of floor regulation
Journal of Human-Robot Interaction
Turn-taking is ubiquitous in human communication, yet turn-taking between humans and robots
continues to be stilted and awkward for human users. The goal of our work is to build autonomous
robot controllers for successfully engaging in human-like turn-taking interactions. Towards this end,
we present CADENCE, a novel computational model and architecture that explicitly reasons about
the four components of floor regulation: seizing the floor, yielding the floor, holding the floor…Turn-taking is ubiquitous in human communication, yet turn-taking between humans and robots
continues to be stilted and awkward for human users. The goal of our work is to build autonomous
robot controllers for successfully engaging in human-like turn-taking interactions. Towards this end,
we present CADENCE, a novel computational model and architecture that explicitly reasons about
the four components of floor regulation: seizing the floor, yielding the floor, holding the floor, and
auditing the owner of the floor. The model is parametrized to enable the robot to achieve a range
of social dynamics for the human-robot dyad. In a between-groups experiment with 30 participants,
our humanoid robot uses this turn-taking system at two contrasting parametrizations to engage users
in autonomous object play interactions. Our results from the study show that: (1) manipulating
these turn-taking parameters results in significantly different robot behavior; (2) people perceive
the robot’s behavioral differences and consequently attribute different personalities to the robot;
and (3) changing the robot’s personality results in different behavior from the human, manipulating
the social dynamics of the dyad. We discuss the implications of this work for various contextual applications as well as the key limitations of the system to be addressed in future work.Other authorsSee publication -
Timing in multimodal turn-taking interactions: Control and analysis using timed Petri nets
Journal of Human-Robot Interaction
Turn-taking interactions with humans are multimodal and reciprocal in nature. In addition, the timing of actions is of great importance, as it influences both social and task strategies. To enable the precise control and analysis of timed discrete events for a robot, we develop a system for multimodal collaboration based on a timed Petri net (TPN) representation. We also argue for action interruptions in reciprocal interaction and describe its implementation within our system. Using the system…
Turn-taking interactions with humans are multimodal and reciprocal in nature. In addition, the timing of actions is of great importance, as it influences both social and task strategies. To enable the precise control and analysis of timed discrete events for a robot, we develop a system for multimodal collaboration based on a timed Petri net (TPN) representation. We also argue for action interruptions in reciprocal interaction and describe its implementation within our system. Using the system, our autonomously operating humanoid robot Simon collaborates with humans through both speech and physical action to solve the Towers of Hanoi, during which the human and the robot take turns manipulating objects in a shared physical workspace. We hypothesize that action interruptions have a positive impact on turn-taking and evaluate this in the Towers of Hanoi domain through two experimental methods. One is a between-groups user study with 16 participants. The other is a simulation experiment using 200 simulated users of varying speed, initiative, compliance, and correctness. In these experiments, action interruptions are either present or absent in the system. Our collective results show that action interruptions lead to increased task efficiency through increased user initiative, improved interaction balance, and higher sense of fluency. In arriving at these results, we demonstrate how these evaluation methods can be highly complementary in the analysis of interaction dynamics.
Other authorsSee publication
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