RTM (Robot Technology Middleware) Based Dynamic Interrupt System for Communication Between Humans and Robots

Hai An Vu; Fangyan Dong; Kaoru Hirota

doi:10.20965/jaciii.2011.p0506

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JACIII Vol.15 No.5 pp. 506-514

doi: 10.20965/jaciii.2011.p0506

(2011)

Paper:

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RTM (Robot Technology Middleware) Based Dynamic Interrupt System for Communication Between Humans and Robots

Hai An Vu, Fangyan Dong, and Kaoru Hirota

Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan

Received:

October 22, 2010

Accepted:

February 28, 2011

Published:

July 20, 2011

Keywords:

interruption, fuzzy logic, middleware, human-robot communication

Abstract

A dynamic fuzzy interrupt system is proposed to optimize responsiveness of robots in humans-robots communication. The system guarantees a continuous and efficient human-robot interaction by assigning priority to the given instruction and it remains immune to distractions caused by conflicting instructions. The system is embedded in the robot technology components that are able to implement by different programming languages, under the different operating system. Experiments to simulate actions of mascot robot system such as the eye robot, mobile robot, and information retrieval engine involving 10,000 instructions show a 14% improvement in the system responsiveness and a delay time of less than 2 seconds. The implementation of home party scenario between four humans (a host and three guests) and five eye robots shows the affective communication, and confirms to facilitate casual communication between humans and robots with limited interruption.

Cite this article as:

H. Vu, F. Dong, and K. Hirota, “RTM (Robot Technology Middleware) Based Dynamic Interrupt System for Communication Between Humans and Robots,” J. Adv. Comput. Intell. Intell. Inform., Vol.15 No.5, pp. 506-514, 2011.

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References

[1] C. Breazeal, “Emotion and sociable humanoid robots,” Int. J. Human-Computer Studies, Vol.59, pp. 119-155. 2003.
[2] D. Sakamoto, T. Kanda, T. Ono, M. Kamashima, M. Imai, and H. Ishiguro, “Cooperative embodied communication emerged by interactive humanoid robots,” Int. J. Human-Computer Studies, Vol.62, pp. 247-265, 2005.
[3] R. Kirly, J. Forlizzi, and R. Simmons, “Affective social robots,” Robotics and Autonomous Systems, Sep. 2009.
[4] Honda ASIMO robot,
http://www.honda.co.jp/ASIMO/
[5] Ping pong playing robot Topio
http://topio.tosy.com/history-topio3.shtml
[6] Fujitsu service robot (Enon)
http://www.frontech.fujitsu.com/en/forjp/robot/servicerobot/
[7] Y. Yamazaki , H. A. Vu, Q. P. Le, K. Fukuda, Y. Matsuura, M. S. Hannachi, F. Dong, Y. Takama, and K. Hirota, “Mascot Robot System by integrating Eye Robot and Speech Recognition using RT Middleware and its Casual Information Recommendation,” 3rd Int. Symposium on Computational Intelligence and Industrial Applications (ISCIIA2008), pp. 375-384, Nov. 2008.
[8] C. Breazeal, “Towards sociable robots,” Robotic and Autonomous System, Vol.42, pp. 167-175, 2003.
[9] Y. Uehara, Y. Yamazaki, Y. Masuda, H. A. Vu, K. Fukuda, K. Matsuura, Q. P. Le,M. S. Hannachi, F. Dong, Y. Takama, and K. Hirota, “Speaker Emotion Inference Module and its Application to Mascot Robot System,” Int. Symposium on Management Engineering, pp. 299-306, 2008.
[10] A. Kobayashi, Y. Kono, A. Ueno, I. Kume, and M. Kidode, “Personalization of Dynamically Loaded Service Program for a Human-Robot Communication Channel,” Proc. of the 2004 IEEE Int.Workshop on Robot and Human Interactive Communication, Okayama Japan, pp. 365-370, Sep. 2004.
[11] New Energy and Industrial Technology Development Organization (NEDO),
http://www.nedo.go.jp/english/index.html
[12] Robot Technology Middleware (RTM),
http://www.is.aist.go.jp/rt/OpenRTM-aist/html
[13] Japan National Institute of Advance Industrial Science and Technology (AIST),
http://www.aist.go.jp/index_en.html
[14] H. A. Vu, Y. Yamazaki, K. Fukuda, Y. Matsuura, Q. P. Le, H. Oikawa, K. Ohnishi, Y. Takama, F. Dong, and K. Hirota, “The interrupt of Mascot robot system embedded in RT Middleware based on fuzzy logic,” FACTA UNIVERSITATIS, Series: Mechanics, Automatic Control and Robotics, Vol.7, No.1, pp. 9-24, 2008.
[15] D. C. McFarlane, “Comparison of Four PrimaryMethod for Coordinating the Interruption of People in Human-Computer Interaction,” Human-Computer Interaction, Vol.17, pp. 63-139, 2002.
[16] K. Kawamura, R. A. Peters, R. E. Bodenheimer, N. Darkar, J. Park, C. A. Clifton, and A. W. Spratley, “A Parallel Distributed Cognitive Control System for a Humanoid Robot,” Int. J. of Humanoid Robotics, Spring 2004.
[17] N. T. H. Lien, F. Dong, Y. Arai, K. Hirota, H. Sato, and T. Hayashi, “A Speaker Recognition Method based on Personal Identification Voice and Trapezoid Fuzzy Similarity,” Int. J. of Cybernetics and Information Technologies, Vol.8, No.4, pp. 40-56, Sofia, 2008.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C. Breazeal, “Emotion and sociable humanoid robots,” Int. J. Human-Computer Studies, Vol.59, pp. 119-155. 2003.

[2] [2] D. Sakamoto, T. Kanda, T. Ono, M. Kamashima, M. Imai, and H. Ishiguro, “Cooperative embodied communication emerged by interactive humanoid robots,” Int. J. Human-Computer Studies, Vol.62, pp. 247-265, 2005.

[3] [3] R. Kirly, J. Forlizzi, and R. Simmons, “Affective social robots,” Robotics and Autonomous Systems, Sep. 2009.

[4] [4] Honda ASIMO robot,
http://www.honda.co.jp/ASIMO/

[5] [5] Ping pong playing robot Topio
http://topio.tosy.com/history-topio3.shtml

[6] [6] Fujitsu service robot (Enon)
http://www.frontech.fujitsu.com/en/forjp/robot/servicerobot/

[7] [7] Y. Yamazaki , H. A. Vu, Q. P. Le, K. Fukuda, Y. Matsuura, M. S. Hannachi, F. Dong, Y. Takama, and K. Hirota, “Mascot Robot System by integrating Eye Robot and Speech Recognition using RT Middleware and its Casual Information Recommendation,” 3rd Int. Symposium on Computational Intelligence and Industrial Applications (ISCIIA2008), pp. 375-384, Nov. 2008.

[8] [8] C. Breazeal, “Towards sociable robots,” Robotic and Autonomous System, Vol.42, pp. 167-175, 2003.

[9] [9] Y. Uehara, Y. Yamazaki, Y. Masuda, H. A. Vu, K. Fukuda, K. Matsuura, Q. P. Le,M. S. Hannachi, F. Dong, Y. Takama, and K. Hirota, “Speaker Emotion Inference Module and its Application to Mascot Robot System,” Int. Symposium on Management Engineering, pp. 299-306, 2008.

[10] [10] A. Kobayashi, Y. Kono, A. Ueno, I. Kume, and M. Kidode, “Personalization of Dynamically Loaded Service Program for a Human-Robot Communication Channel,” Proc. of the 2004 IEEE Int.Workshop on Robot and Human Interactive Communication, Okayama Japan, pp. 365-370, Sep. 2004.

[11] [11] New Energy and Industrial Technology Development Organization (NEDO),
http://www.nedo.go.jp/english/index.html

[12] [12] Robot Technology Middleware (RTM),
http://www.is.aist.go.jp/rt/OpenRTM-aist/html

[13] [13] Japan National Institute of Advance Industrial Science and Technology (AIST),
http://www.aist.go.jp/index_en.html

[14] [14] H. A. Vu, Y. Yamazaki, K. Fukuda, Y. Matsuura, Q. P. Le, H. Oikawa, K. Ohnishi, Y. Takama, F. Dong, and K. Hirota, “The interrupt of Mascot robot system embedded in RT Middleware based on fuzzy logic,” FACTA UNIVERSITATIS, Series: Mechanics, Automatic Control and Robotics, Vol.7, No.1, pp. 9-24, 2008.

[15] [15] D. C. McFarlane, “Comparison of Four PrimaryMethod for Coordinating the Interruption of People in Human-Computer Interaction,” Human-Computer Interaction, Vol.17, pp. 63-139, 2002.

[16] [16] K. Kawamura, R. A. Peters, R. E. Bodenheimer, N. Darkar, J. Park, C. A. Clifton, and A. W. Spratley, “A Parallel Distributed Cognitive Control System for a Humanoid Robot,” Int. J. of Humanoid Robotics, Spring 2004.

[17] [17] N. T. H. Lien, F. Dong, Y. Arai, K. Hirota, H. Sato, and T. Hayashi, “A Speaker Recognition Method based on Personal Identification Voice and Trapezoid Fuzzy Similarity,” Int. J. of Cybernetics and Information Technologies, Vol.8, No.4, pp. 40-56, Sofia, 2008.