Developing a Robot's Empathetic Reactive Response Inspired by a Bottom-Up Attention Model

Randy Gomez, Yu Fang, Serge Thill, Ricardo Ragel, Heike Brock, Keisuke Nakamura, Yurii Vasylkiv, Eric Nichols, and Luis Merino. Developing a Robot's Empathetic Reactive Response Inspired by a Bottom-Up Attention Model. In Proceedings of the International Conference on Social Robotics, ICSR 2021, pp. 85–95, Springer International Publishing, Cham, 2021.

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Abstract

This paper describes the development of a reactive behavioral response framework for the tabletop robot Haru. The framework enables the robot to react to external stimuli through a repertoire of expressive routines. The behavioral response framework is inspired by the simple reactive behaviors of organisms (e.g. reflexes) based on a bottom-up attention model. First, a participatory study for behavior elicitation was conducted. We explored the possible expressive behaviors of the robot and the possible stimuli trigger. These stimuli-response (S-R) pairs are designed befitting the robot's characteristics. Then, we developed a perception and a reactive behavior module that automatically translates any perceived stimulus into expressive behavioral responses. We evaluated the proposed S-R framework using Haru in an interaction setting and our results show an increase in human attention activity indicative of its positive impact to conveying the robot's sense of agency.

BibTeX Entry

@InProceedings{icsr21attention,
author={Gomez, Randy and Fang, Yu and Thill, Serge and Ragel, Ricardo and Brock, Heike and Nakamura, Keisuke and Vasylkiv, Yurii and Nichols, Eric and Merino, Luis},
editor={Li, Haizhou and Ge, Shuzhi Sam and Wu, Yan and Wykowska, Agnieszka and He, Hongsheng and Liu, Xiaorui and Li, Dongyu and Perez-Osorio, Jairo},
title="Developing a Robot's Empathetic Reactive Response Inspired by a Bottom-Up Attention Model",
booktitle="Proceedings of the International Conference on Social Robotics, ICSR 2021",
year="2021",
publisher="Springer International Publishing",
address="Cham",
pages="85--95",
abstract="This paper describes the development of a reactive behavioral response framework for the tabletop robot Haru. The framework enables the robot to react to external stimuli through a repertoire of expressive routines. The behavioral response framework is inspired by the simple reactive behaviors of organisms (e.g. reflexes) based on a bottom-up attention model. First, a participatory study for behavior elicitation was conducted. We explored the possible expressive behaviors of the robot and the possible stimuli trigger. These stimuli-response (S-R) pairs are designed befitting the robot's characteristics. Then, we developed a perception and a reactive behavior module that automatically translates any perceived stimulus into expressive behavioral responses. We evaluated the proposed S-R framework using Haru in an interaction setting and our results show an increase in human attention activity indicative of its positive impact to conveying the robot's sense of agency.",
isbn="978-3-030-90525-5",
doi={10.1007/978-3-030-90525-5_8},
}

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