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Human-Robot Autonomous System: An Interactive Architecture

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Synergetic Cooperation between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 811))

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Abstract

Social robotics is a growing field that aims to enhance the interaction between robots and humans in everyday settings. To achieve this goal, various new techniques for human-robot interaction (HRI) have emerged. One such technique is proxemic interaction, which governs how people and robots interact based on their distance from each other, leading to the definition of proxemic zones. In our work, we present a socially-aware navigation system built on proxemic principles. This system responds to voice commands and incorporates a Chatbot to determine the robot’s path within a crowded environment. This innovative social navigation system is seamlessly integrated into GProxemic Navigation, a system that not only provides the robot’s location but also intelligently identifies the proxemic zones that the robot should avoid while navigating. These proxemic zones are determined based on the characteristics of the environment. To showcase the functionality and suitability of our proposed proxemic navigation system, we have implemented it in an autonomous Pepper Robot This implementation allows the Pepper Robot to navigate efficiently while respecting the social constraints imposed by the environment, enhancing the robot’s ability to coexist harmoniously with people in shared spaces.

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Acknowledgment

We thank the Federal Instituto Federal de Educação, Ciência e Tecnologia da Bahia (IFBA), the Research Group GIPAR - Grupo de Inovação e Pesquisa em Automação e Robótica and Public Call No 03/2022/PRPGI for their support and assistance in the development of this project.

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Authors and Affiliations

  1. Instituto Federal de Educação, Ciência e Tecnologia da Bahia, Av. Sérgio Vieira de Melo, 3150, Zabelê, Vitória da Conquista - BA, Brazil

    Giovane Moreira, Anderson Leite, José Díaz-Amado, Cleia Libarino & Joao Marques

Authors
  1. Giovane Moreira
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  2. Anderson Leite
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  3. José Díaz-Amado
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  4. Cleia Libarino
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  5. Joao Marques
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Corresponding author

Correspondence to Giovane Moreira .

Editor information

Editors and Affiliations

  1. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Ebrahim Samer El Youssef

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Leonardo Mejia Rincon

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Moreira, G., Leite, A., Díaz-Amado, J., Libarino, C., Marques, J. (2024). Human-Robot Autonomous System: An Interactive Architecture. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 811. Springer, Cham. https://doi.org/10.1007/978-3-031-47272-5_22

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