论文标题
调酒师社交机器人的个性化HRI的ROS架构
A ROS Architecture for Personalised HRI with a Bartender Social Robot
论文作者
论文摘要
Brillo（用于交互式长期操作的调酒机器人）项目的总体目标是创建一个自主的机器人调酒师，可以在完成调酒任务的同时与客户互动。在这种情况下，人们的新颖性效果与使用有吸引力的技术有关，注定要磨损，因此，它对服务机器人应用程序的成功产生了负面影响。因此，在访问服务时提供个性化的自然互动对于增加用户的参与以及其忠诚度至关重要。在本文中，我们介绍了开发的三层ROS体系结构，该架构集成了一个感知层，该层是管理不同社会信号的处理，用于处理多方交互的决策层以及控制由手臂和脸部组成的复杂机器人的行为的执行层。最后，通过信念层进行用户建模允许个性化交互。
BRILLO (Bartending Robot for Interactive Long-Lasting Operations) project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. In such a scenario, people's novelty effect connected to the use of an attractive technology is destined to wear off and, consequently, it negatively affects the success of the service robotics application. For this reason, providing personalised natural interaction while accessing its services is of paramount importance for increasing users' engagement and, consequently, their loyalty. In this paper, we present the developed three-layers ROS architecture integrating a perception layer managing the processing of different social signals, a decision-making layer for handling multi-party interactions, and an execution layer controlling the behaviour of a complex robot composed of arms and a face. Finally, user modelling through a beliefs layer allows for personalised interaction.
