The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Implementation of a Refusable Human-Robot Interaction Task with Humanoid Robot by Connecting Soar and ROS

Soar (State Operator and Result)와 ROS 연계를 통해 거절가능 HRI 태스크의 휴머노이드로봇 구현

  • Dang, Chien Van (Department of Electronic Engineering, Dong-A University) ;
  • Tran, Tin Trung (Department of Electronic Engineering, Dong-A University) ;
  • Pham, Trung Xuan (Department of Electronic Engineering, Dong-A University) ;
  • Gil, Ki-Jong (Department of Electronic Engineering, Dong-A University) ;
  • Shin, Yong-Bin (Department of Electronic Engineering, Dong-A University) ;
  • Kim, Jong-Wook (Department of Electronic Engineering, Dong-A University)
  • Received : 2016.10.15
  • Accepted : 2017.01.31
  • Published : 2017.02.28
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Abstract

This paper proposes combination of a cognitive agent architecture named Soar (State, operator, and result) and ROS (Robot Operating System), which can be a basic framework for a robot agent to interact and cope with its environment more intelligently and appropriately. The proposed Soar-ROS human-robot interaction (HRI) agent understands a set of human's commands by voice recognition and chooses to properly react to the command according to the symbol detected by image recognition, implemented on a humanoid robot. The robotic agent is allowed to refuse to follow an inappropriate command like "go" after it has seen the symbol 'X' which represents that an abnormal or immoral situation has occurred. This simple but meaningful HRI task is successfully experimented on the proposed Soar-ROS platform with a small humanoid robot, which implies that extending the present hybrid platform to artificial moral agent is possible.

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References

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