Abstract
This paper provides a comprehensive introduction to the design of the minimally expressive robot KASPAR, which is particularly suitable for human--robot interaction studies. A low-cost design with off-the-shelf components has been used in a novel design inspired from a multi-disciplinary viewpoint, including comics design and Japanese Noh theatre. The design rationale of the robot and its technical features are described in detail. Three research studies will be presented that have been using KASPAR extensively. Firstly, we present its application in robot-assisted play and therapy for children with autism. Secondly, we illustrate its use in human--robot interaction studies investigating the role of interaction kinesics and gestures. Lastly, we describe a study in the field of developmental robotics into computational architectures based on interaction histories for robot ontogeny. The three areas differ in the way as to how the robot is being operated and its role in social interaction scenarios. Each will be introduced briefly and examples of the results will be presented. Reflections on the specific design features of KASPAR that were important in these studies and lessons learnt from these studies concerning the design of humanoid robots for social interaction will also be discussed. An assessment of the robot in terms of utility of the design for human--robot interaction experiments concludes the paper.
Highlights
A key interest in our research group concerns human-robot interaction research; see Goodrich & Schultz (2008), Dautenhahn (2007), Fong et al (2003) for introductory material of this research field
Their acceptance of the robot and willingness to engage with the robot will fundamentally influence the outcome of human-robot interaction experiments, but will impact the acceptance of any robots designed for use in human society as companions or assistants (Dautenhahn, 2007; Dautenhahn et al 2005)
Different from this work, in the context of this paper we focus on minimally expressive humanoid robots, suitable for human-robot interaction experiments in assistive technology as well as developmental robotics research
Summary
A key interest in our research group concerns human-robot interaction research; see Goodrich & Schultz (2008), Dautenhahn (2007), Fong et al (2003) for introductory material of this research field. One of the most challenging open issues is how to design a robot that is suitable for human-robot interaction research, whereby suitability concerns the technical abilities and characteristics of the robot but, importantly, its perception by people who are interacting with it. Their acceptance of the robot and willingness to engage with the robot will fundamentally influence the outcome of human-robot interaction experiments, but will impact the acceptance of any robots designed for use in human society as companions or assistants (Dautenhahn, 2007; Dautenhahn et al 2005).
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