Article published in:
Social Cues in Robot Interaction, Trust and Acceptance
Edited by Alessandra Rossi, Kheng Lee Koay, Silvia Moros, Patrick Holthaus and Marcus Scheunemann
[Interaction Studies 20:3] 2019
► pp. 530–560

Reshaping human intention in Human-Robot Interactions by robot moves

A comparative analysis of HMM and OOM methods

| Konya Technical University
| Middle East Technical University
| The Ohio State University
This paper outlines the methodology and experiments associated with the reshaping of human intentions based on robot movements within Human-Robot Interactions (HRIs). Although studies on estimating human intentions are well studied in the literature, reshaping intentions through robot-initiated interactions is a new significant branching in the field of HRI. In this paper, we analyze how estimated human intentions can intentionally change through cooperation with mobile robots in real Human-Robot environments. This paper proposes an intention-reshaping system that includes either the Observable Operator Models (OOMs) or Hidden Markov Models (HMMs) to estimate human intention and decide which moves a robot should perform to reshape previously estimated human intentions into desired ones. At the low level, the system needs to track the locations of all mobile agents using cameras. We test our system on videos taken in a real HRI environment that has been developed as our experimental setup. The results show that OOMs are faster than HMMs and both models give correct decisions for testing sequences.
Keywords: Human-Robot Interaction, Hidden Markov Models, Observable Operator Models, intention reshaping, intention recognition
Article outline
  • 1.Introduction
  • 2.Related works
  • 3.Application scenario and experimental setup
    • Experimental application scenario
  • 4.Proposed methodology
    • 4.1Extraction of intention-related features from human actions
      • 4.1.1Tracking human and robots
    • 4.2Intention estimation
      • 4.2.1Application of Hidden Markov Models (HMM)
      • 4.2.2Application of Observable Operator Model (OOM)
    • 4.3Intention reshaping
  • 5.Results
    • 5.1Results of intention reshaping
    • 5.2Comparison results of methods for intention estimation
  • 6.Conclusion and discussion
  • References
Published online: 18 November 2019
https://doi.org/10.1075/is.18068.dur
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