研究者詳細 - 小川　浩平

Designing Robot Behavior in Conversations based on Contemporary Colloquial Theatre Theory 査読有り

Kohei Ogawa, Takenobu Chikaraishi, Yuichiro Yoshikawa, Shogo Nishiguchi, Oriza Hirata, Hiroshi Ishiguro

2014 23RD IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN) 頁： 168 - 173 2014年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

Due to human sensitivity for humanlike objects, designing human-like behavior for a robot that interacts with humans remains a central issue in the HRI field. This issue is formidable because human-likeness is an important factor for better interaction since it can easily convey negative impressions if the design is not perfect, as in the uncanny valley phenomena. This paper addresses this issue with a novel approach that utilizes implicit know-how for performing on stage and is dedicated to represent human beings. Contemporary colloquial theatre theory (CCTT), which is a method of directing plays, is appropriate for this purpose since its reality-oriented instructions are directly applicable for improving robot behavior. In this paper, we report case studies on performing a play involving both humans and a robot. The play in our study was evaluated in public performances in Japan. We report detailed analysis of comparable short plays on human-robot interaction or human-human-robot interaction. Our analysis implies that utterance and motion timings should be tuned depending on the situation. Future work will use a motion capture system to get more precise data and more useful knowledge.

DOI： 10.1109/ROMAN.2014.6926248

人間の代わりに講演を行うアンドロイドシステム (ヒューマンコミュニケーション基礎)

星川智也, 小川浩平, 石黒浩

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 巻 ( 283 ) 頁： 47-52 2013年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

本稿では,人間の代役として講演を行うアンドロイド(人間酷似型ロボット)システムの開発について述べる.開発したシステムでは,アンドロイドは,事前に記録した講演時の人間の音声・動きの通りに振る舞う.しかし,ここでの問題は適応性の欠如,つまりどんな状況であっても同じ振る舞いをする事であった.そこで,状況に合わせて適応的に振る舞う事は人間らしさの重要な要素であると考え,まずは適応的な目線の振る舞いの実現に向けて研究に取り組んだ.ここでは人間の目線について考察・分析し,目線の確率遷移モデルと発話内容から目線方向を生成するモデルについて検討した.

状況性を考慮した社会的なアンドロイドの実現 (ヒューマンコミュニケーション基礎)

渡辺美紀, 小川浩平, 石黒浩

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 巻 ( 283 ) 頁： 31-36 2013年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

本論文では,人に見かけが酷似したアンドロイドロボットが,実社会の中で人に社会的な存在であると認知されるためには,アンドロイドのおかれた状況性を考慮したシステムの設計が必要であると考え,これに基づいたアンドロイド自律システムを実装した.そのシステムを用いてアンドロイドが観察者から人らしい社会的な知性を持つと認知されるかどうかを2つのフィールド実験を通じて検証した.実験を通して非言語や言語による対話を行なった結果,来傷者はアンドロイドを人らしい知的な存在であると評価したことから,状況性を考慮しシステムを設計することで,アンドロイドは社会的かつ知的な存在として人から認知される可能性が示された.

Android robots as telepresence media 査読有り

Kohei Ogawa, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro

Robotics: Concepts, Methodologies, Tools, and Applications 3 巻頁： 1319 - 1327 2013年10月

記述言語：英語掲載種別：論文集(書籍)内論文出版者・発行元：IGI Global

In this chapter, the authors describe two human-like android robots, known as Geminoid and Telenoid, which they have developed. Geminoid was developed for two reasons: (1) to explore how humans react or respond the android during face-to-face communication and (2) to investigate the advantages of the android as a communication medium compared to traditional communication media, such as the telephone or the television conference system. The authors conducted two experiments: the first was targeted to an interlocutor of Geminoid, and the second was targeted to an operator of it. The results of these experiments showed that Geminoid could emulate a human's presence in a natural-conversation situation. Additionally, Geminoid could be as persuasive to the interlocutor as a human. The operators of Geminoid were also influenced by the android: during operation, they felt as if their bodies were one and the same with the Geminoid body. The latest challenge has been to develop Telenoid, an android with a more abstract appearance than Geminoid, which looks and behaves as a minimalistic human. At first glance, Telenoid resembles a human
however, its appearance can be interpreted as any sex or any age. Two field experiments were conducted with Telenoid. The results of these experiments showed that Telenoid could be an acceptable communication medium for both young and elderly people. In particular, physical interaction, such as a hug, positively affected the experience of communicating with Telenoid.

DOI： 10.4018/978-1-4666-4607-0.ch064

ネットワークロボット，その人と街とのかかわり：〔街とのかかわり〕7. ヨーロッパのカフェにたたずむジェミノイド

小川浩平

情報処理 54 巻 ( 7 ) 頁： 710-714 2013年6月

PROMOTING SOCIALIZATION OF SCHOOLCHILDREN USING A TELEOPERATED ANDROID: AN INTERACTION STUDY 査読有り

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Kohei Matsumura, Takashi Minato, Hiroshi Ishiguro, Tsutomu Fujinami, Masaru Nishikawa

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 10 巻 ( 1 ) 2013年3月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WORLD SCIENTIFIC PUBL CO PTE LTD

Our research focuses on the social aspects of teleoperated androids as new media for human relationships and explores how they can contribute and encourage people to associate with others. We introduced Telenoid, a teleoperated android with a minimalistic human design, to elementary school classrooms to see how children respond to it. We found that Telenoid encourages children to work cooperatively and facilitates communication with senior citizens with dementia. Children differentiated their roles spontaneously and cooperatively participated in group work. In another class, we applied Telenoid to remote communication between schoolchildren and assisted living residents. The children felt relaxed about continuing their conversations with the elderly and positively participated in them. The results suggest that limited functionality may facilitate cooperation among participants, and varied embodiments may promote the learning process of the association with others, even those who are unfamiliar. We propose a teleoperated android as an educational tool to promote socialization.

DOI： 10.1142/S0219843613500072

ヨーロッパのカフェにたたずむジェミノイド招待有り

小川浩平

情報処理 54 巻 ( 7 ) 頁： . 2013年

Robot Embodiment, Operator Modality, and Social Interaction in Tele-Existence: A Project Outline 査読有り

Christian Becker-Asano, Severin Gustorff, Kai Oliver Arras, Kohei Ogawa, Shuichi Nishio, Hiroshi Ishiguro, Bernhard Nebel

PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013) 頁： 79 - + 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

This paper outlines our ongoing project, which aims to investigate the effects of robot embodiment and operator modality on an operator's task efficiency and concomitant level of copresence in remote social interaction. After a brief introduction to related work has been given, five research questions are presented. We discuss how these relate to our choice of the two robotic embodiments "DARYL" and "Geminoid F" and the two operator modalities "console interface" and "head-mounted display". Finally, we postulate that the usefulness of one operator modality over the other will depend on the type of situation an operator has to deal with. This hypothesis is currently being investigated empirically using DARYL at Freiburg University.

DOI： 10.1109/HRI.2013.6483510

Tell Me Your Story, Robot. Introducing an Android as Fiction Character Leads to Higher Perceived Usefulness and Adoption Intention 査読有り

Martina Mara, Markus Appel, Hideaki Ogawa, Christopher Lindinger, Emiko Ogawa, Hiroshi Ishiguro, Kohei Ogawa

PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013) 頁： 193 - + 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

In a field experiment with N = 75 participants, the android telecommunication robot Telenoid was introduced in three different ways: participants either read a short story presenting the Telenoid as character, a non-narrative information leaflet about it, or they received no preliminary introduction at all before interacting with the robot. Perceived usefulness and behavioral intentions to adopt the robot were significantly higher in the story condition than in both other conditions. In line with the Technology Acceptance Model, reported usefulness additionally served as a mediator between treatment and adoption intention. This study is the first to apply findings from Narrative Persuasion to HRI and can prompt further discussion about stories as means to increase user acceptance of new robotic agents.

DOI： 10.1109/HRI.2013.6483567

詩の朗読エージェントとしてのアンドロイドの可能性査読有り

小川浩平, 石黒浩

14 巻 ( 1 ) 頁： 43 - 51 2012年1月

Body ownership transfer to teleoperated android robot 査読有り

Shuichi Nishio, Tetsuya Watanabe, Kohei Ogawa, Hiroshi Ishiguro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 7621 巻頁： 398 - 407 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Teleoperators of android robots occasionally feel as if the robotic bodies are extensions of their own. When others touch the teleoperated android, even without tactile feedback, some operators feel as if they themselves have been touched. In the past, a similar phenomenon named "Rubber Hand Illusion" has been studied for its reflection of a three-way interaction among vision, touch and proprioception. In this study, we examined whether a similar interaction occurs when replacing a tactile sensation with android robot teleoperation
that is, whether the interaction among vision, motion and proprioception occurs. The result showed that when the operator and the android motions are synchronized, operators feel as if their sense of body ownership is transferred to the android robot. © 2012 Springer-Verlag.

DOI： 10.1007/978-3-642-34103-8_40

Teleoperated android as an embodied communication medium: A case study with demented elderlies in a care facility 査読有り

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishigur

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 頁： 1066 - 1071 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Teleoperated androids, which are robots with humanlike appearances, are being produced as new media of human relationships. We explored the potential of humanoid robots and how they affect people in the real world when they are employed to express a telecommunication presence and a sense of being there. We introduced Telenoid, a teleoperated android, to a residential care facility to see how the elderly with dementia respond to it. Our exploratory study focused on the social aspects that might facilitate communication between the elderly and Telenoid's operator. Telenoid elicited positive images and interactive reactions from the elderly with mild dementia, even from those with severe cognitive impairment. They showed strong attachment to its child-like huggable design and became willing to converse with it. Our result suggests that an affectionate bond may be formed between the elderly and the android to provide the operator with easy communication to elicit responses from senior citizens. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343890

Possibilities of Androids as poetry-reciting agent 査読有り

Kohei Ogawa, Koichi Taura, Hiroshi Ishiguro

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 頁： 565 - 570 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In recent years, research has increased on very human-like androids, generally investigating the following: (1) how people treat such very human-like androids and (2) whether it is possible to replace such existing communication media as telephones or TV conference systems with androids as a communication medium. We found that androids have advantages over humans in specific contexts. For example, in a collaboration theatrical project between artists and androids, audiences were impressed by the androids that read poetry. We, therefore, experimentally compared androids and humans in a poetry-reciting context by conducting an experiment to illustrate the influence of an android who recited poetry. Participants listened to poetry that was read by three poetry-reciting agents: the android, the human model on which the android was based, and a box. The experiment results showed that the enjoyment of the poetry gained the highest score under the android condition, indicating that the android has an advantage for communicating the meaning of poetry. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343811

How does telenoid affect the communication between children in classroom setting? 査読有り

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro, Kohei Matsumura, Kensuke Koda, Tsutomu Fujinami

Conference on Human Factors in Computing Systems - Proceedings 頁： 351 - 366 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

It needs to be investigated how humanoid robots may affect people in the real world when they are employed to express the presence, a feel of being there, in tele-communication. We brought Telenoid, a tele-operated humanoid robot, into a classroom at an elementary school to see how schoolchildren respond to it. Our study is exploratory and we focused on the social aspects that might facilitate communication between schoolchildren. We found that Telenoid affected the way children work as group. They participated in the group work more positively, became more spontaneous, and differentiated their roles. We observed that Telenoid's limited capability led them to change their attitudes so that they could work together. The result suggests that the limited functionality may facilitate cooperation among participants in classroom setting. © 2012 ACM.

DOI： 10.1145/2212776.2212814

Effect of perspective change in body ownership transfer to teleoperated android robot 査読有り

Kohei Ogawa, Koichi Taura, Shuichi Nishio, Hiroshi Ishiguro

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 頁： 1072 - 1077 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

We previously investigated body ownership transfer to a teleoperated android body caused by motion synchronization between the robot and its operator. Although visual feedback is the only information provided from the robot, due to body ownership transfer, some operators feel as if they were touched when the robot's body was touched. This illusion can help operators transfer their presence to the robotic body during teleoperation. By enhancing this phenomenon, we can improve our communication interface and the quality of the interaction between operator and interlocutor. In this paper, we examined how the change in the operator's perspective affects the body ownership transfer during teleoperation. Based on past studies on the rubber hand illusion, we hypothesized that the perspective change will suppress the body owner transfer. Our results, however, showed that in any perspective condition, the participants felt the body ownership transfer. This shows that its generation process may differ in the body ownership transfer for teleoperated androids and the rubber hand illusion. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343891