Meyer zu Borgsen, Sebastian: Nonverbal Communication During Human-Robot Object Handover. Improving Predictability of Humanoid Robots by Gaze and Gestures in Close Interaction. 2020
Inhalt
- Abstract
- Acknowledgments
- Contents
- List of Research Questions
- List of Hypotheses
- List of Requirements
- List of Figures
- List of Tables
- Research Topic
- 1 Introduction
- 2 Thesis Prospect
- 3 Terminology and Concepts
- 3.1 Robot
- 3.2 Human-Robot Interaction
- 3.3 Nonverbal Communication
- 3.4 Object Handover
- 3.4.1 Classification of Handovers
- 3.4.2 Phases of Handover
- 3.4.3 Grasping for Handover as a Giver
- 3.4.4 Positioning for Handover
- 3.4.5 The Object Transfer Point
- 3.4.6 Reaching Out
- 3.4.7 Transferring Physical Control
- 3.4.8 Laterality and Handedness
- 3.5 Summary
- The Object Handing Robot
- 4 System Foundation and Environment
- 4.1 Meka M1 Mobile Manipulator
- 4.2 System Architecture
- 4.3 Reproducibility and Software Deployment
- 4.4 Environment of the Robot and Experiments
- 4.5 Incorporating Mixed Reality
- 5 Human-Robot Handover Experiment
- 5.1 Experiment Procedure and Design
- 5.1.1 Robot Behavior
- 5.1.2 Gestures with the Second Arm
- 5.1.3 Basic Gaze Strategy
- 5.1.4 Setup and Environment
- 5.2 Experiment Annotation
- 5.3 Findings and Results
- 6 Using Robot Gaze for Predictability
- 6.1 Floka – The Interactive Head
- 6.2 Aligning Human-Like Gaze with Handover
- 6.3 Gaze Integration with Floka
- 7 Functional Gesture Motions
- 8 Perception and Prediction of OTPs
- 8.1 Hand Tracking
- 8.2 Transfer Point Prediction
- 8.3 Integration with Floka
- 8.4 Tracking and Prediction Results
- 9 Combined Handover System
- 9.1 The Final Floka Robot
- 9.2 Combined Behavior
- 9.2.1 Enhanced Gaze
- 9.2.2 Approaching - Orient Towards Interactant
- 9.2.3 Reaching Behavior
- 9.2.4 Object Transfer
- 9.2.5 Retreat
- 9.3 Parameters
- 9.4 Discussion
- 10 Final Evaluation
- Perspectives
- Appendix
- A Gesture Study Material
- B Gesture Study Timing Plots
- C Adaption Plots
- D Final System-Evaluation Material
- D.1 Recorded ROS-Topics
- D.2 Behavior Statemachine
- D.3 Handover Questionnaire 2019
- D.4 Handover Instructions 2019
- D.5 Handover Interview 2019
- E Evaluation Duration as Boxplot
- Acronyms and Abbreviations
- Glossary
- Bibliography
- Declaration of Authorship
- Colophon