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LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
Katie Winkle1, Emmanuel Senft2, Séverin Lemaignan3
1Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden.
Frontiers in Robotics and AI
|December 20, 2021
Summary
LEADOR is an end-to-end participatory design methodology enabling domain experts to co-design and teach social robot behavior, leading to autonomous systems. This approach facilitates in-situ learning and expert-approved policies for improved human-robot interaction.
Area of Science:
- Human-Robot Interaction (HRI)
- Robotics
- Human-Computer Interaction (HCI)
Background:
- Participatory design (PD) in HRI is often limited to early development stages.
- Subsequent robot behaviors are typically hardcoded or use Wizard-of-Oz (WoZ) systems, hindering autonomy.
- Existing methods struggle with achieving full autonomy, especially in complex environments.
Purpose of the Study:
- To introduce LEADOR (Led-by-Experts Automation and Design Of Robots), an end-to-end PD methodology.
- To enable domain expert co-design, automation, and evaluation of social robot behavior.
- To facilitate in-situ, online teaching for robot behavior development and autonomy.
Main Methods:
- LEADOR integrates PD with an in-situ, online teaching phase for domain experts.
- Experts live-program robots within the interaction context, capturing implicit knowledge.
- Combines a learning component with WoZ to progressively learn expert-approved policies.
- Methodology is agnostic to specific learning techniques, focusing on expert inclusion.
Main Results:
- Demonstrates feasibility and worth of the LEADOR approach through foundational works.
- Provides concrete examples of LEADOR application in social robot behavior design.
- Highlights LEADOR's support for mutual shaping and responsible innovation in social robotics.
Conclusions:
- LEADOR offers a comprehensive framework for expert-driven social robot behavior development.
- The methodology supports achieving full robot autonomy, even in ill-defined environments.
- LEADOR promotes responsible innovation and mutual shaping between humans and robots.
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