Legible Robot Pointing

Rachel Holladay, Anca Dragan, and Siddhartha Srinivasa
Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014.


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Abstract
Good communication is critical to seamless human-robot interaction. Among numerous communication channels, here we focus on gestures, and in particular on spacial deixis: pointing at objects in the environment in order to reference them. We propose a mathematical model that enables robots to generate pointing configurations that make the goal object as clear as possible --- pointing configurations that are legible. We study the implications of legibility on pointing, e.g. that the robot will sometimes need to trade off efficiency for the sake of clarity. Finally, we test how well our model works in practice in a series of user studies, showing that the resulting pointing configurations make the goal object easier to infer for novice users.

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Rachel Holladay, Anca Dragan, and Siddhartha Srinivasa, "Legible Robot Pointing," Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014.

BibTeX Reference
@inproceedings{Dragan_2014_7612,
   author = "Rachel Holladay and Anca Dragan and Siddhartha Srinivasa",
   title = "Legible Robot Pointing",
   booktitle = "Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man)",
   month = "July",
   year = "2014",
}