Implementation of a Refusable Human-Robot Interaction Task with Humanoid Robot by Connecting Soar and ROS

Chien Van Dang; Tin Trung Tran; Trung Xuan Pham; Ki-Jong Gil; Yong-Bin Shin; Jong-Wook Kim

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자료유형: 학술저널

저자정보: Chien Van Dang (Dong-A University) Tin Trung Tran (Dong-A University) Trung Xuan Pham (Dong-A University) Ki-Jong Gil (Dong-A University) Yong-Bin Shin (Dong-A University) Jong-Wook Kim (Dong-A University)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제12권 제1호

발행연도: 2017.3

수록면: 55 - 64 (10page)

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This paper proposes combination of a cognitive agent architecture named Soar (State, operator, and result) and ROS (Robot Operating System), which can be a basic framework for a robot agent to interact and cope with its environment more intelligently and appropriately. The proposed Soar-ROS human-robot interaction (HRI) agent understands a set of human’s commands by voice recognition and chooses to properly react to the command according to the symbol detected by image recognition, implemented on a humanoid robot. The robotic agent is allowed to refuse to follow an inappropriate command like “go” after it has seen the symbol ‘X’ which represents that an abnormal or immoral situation has occurred. This simple but meaningful HRI task is successfully experimented on the proposed Soar-ROS platform with a small humanoid robot, which implies that extending the present hybrid platform to artificial moral agent is possible.

#Soar #ROS #Human-robot interaction #Artificial moral agent

참고문헌 (18)

참고문헌 신청

K.P. Valavanis and G.N. Saridis, Intelligent robotic systems: theory, design and applications, Springer Science + Business Media, LLC, November, 2012. H.S. Park, K.C. Koh, H.-S. Kim, and H.-G. Lee, “State of R&D projects for intelligent robots,” Journal of Korea Robotics Society, vol. 2, no. 2, pp. 191-195, June, 2007. R. Arkin, Governing lethal behavior: Embedding ethics in a hybrid deliberative/reactive robot architecture, Technical Report GIT-GUV-07-11, Georgia Institute of Technology. G. Briggs and M. Scheutz, “Sorry, I can’t do that: Developing mechanisms to appropriately reject directives in human-robot interactions,” AAAI Fall Symposium Series, 2015. J.G. Trafton, L.M. Hiatt, A.M. Harrison, F.P. Tamborello, II, S.S. Khemlani, and A.C. Schultz, “ACT-R/E: an embodied cognitive architecture for human-robot interaction”, Journal of Human-Robot Interaction, vol. 2, no. 1, pp. 30-55, March, 2013.

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