You, robot: on the linguistic construction of artificial others

How can we make sense of the idea of ‘personal’ or ‘social’ relations with robots? Starting from a social and phenomenological approach to human–robot relations, this paper explores how we can better understand and evaluate these relations by attending to the ways our conscious experience of the robot and the human–robot relation is mediated by language. It is argued that our talk about and to robots is not a mere representation of an objective robotic or social-interactive reality, but rather interprets and co-shapes our relation to these artificial quasi-others. Our use of language also changes as a result of our experiences and practices. This happens when people start talking to robots. In addition, this paper responds to the ethical objection that talking to and with robots is both unreal and deceptive. It is concluded that in order to give meaning to human–robot relations, to arrive at a more balanced ethical judgment, and to reflect on our current form of life, we should complement existing objective-scientific methodologies of social robotics and interaction studies with interpretations of the words, conversations, and stories in and about human–robot relations.     

A methodology for design and analysis of cooperative behaviors with mobile robots

New methodologies are needed for modeling of physically cooperating mobile robots to be able to systematically design and analyze such systems. In this context, we present a method called the ‘P-robot Method’ under which we introduce entities called the p-robots at the environmental contact points and treat the linked mobile robots as a multiple degree-of-freedom object, comprising an articulated open kinematic chain, which is manipulated by the p-robots. The method is suitable to address three critical aspects of physical cooperation: a) analysis of environmental contacts, b) utilization of redundancy, and c) exploitation of system dynamics. Dynamics of the open chain are computed independent of the constraints, thus allowing the same set of equations to be used as the constraint conditions change, and simplifying the addition of multiple robots to the chain. The decoupling achieved through constraining the p-robots facilitates the analysis of kinematic as well as force constraints. We introduce the idea of a ‘tipping cone’, similar to a standard friction cone, to test whether forces on the robots cause undesired tipping. We have employed the P-robot Method for the static as well as dynamic analysis for a cooperative behavior involving two robots. The method is generalizable to analyze cooperative behaviors with any number of robots. We demonstrate that redundant actuation achieved by an adding a third robot to cooperation can help in satisfying the contact constraints. The P-robot Method can be useful to analyze other interesting multi-body robotic systems as well.     

Artificial living beings and robots: one root, variety of influences

The concept of the robot originated, during the 20th century, and then influenced many areas of human activities in the fields of science, engineering, and economy, but also the arts and culture in general, to a considerable extent. This contribution sketches very briefly the original meaning of the notion of a robot, and then some of the transformations of the original meaning, and some of the influences of the concept of robot during the past century. The currently unreflected fact — the roots of the idea of artificial life as well as the idea of robots in Karel Čapek’s famous play R. U. R. — is also mentioned. This work was presented in part at the First European Workshop on Artificial Life and Robotics, Vienna, Austria, July 12–13, 2007     

Avoiding the uncanny valley: robot appearance,personality and consistency of behavior in an attention-seeking home scenario for a robot companion

This article presents the results of video-based Human Robot Interaction (HRI) trials which investigated people’s perceptions of different robot appearances and associated attention-seeking features and behaviors displayed by robots with different appearance and behaviors. The HRI trials studied the participants’ preferences for various features of robot appearance and behavior, as well as their personality attributions towards the robots compared to their own personalities. Overall, participants tended to prefer robots with more human-like appearance and attributes. However, systematic individual differences in the dynamic appearance ratings are not consistent with a universal effect. Introverts and participants with lower emotional stability tended to prefer the mechanical looking appearance to a greater degree than other participants. It is also shown that it is possible to rate individual elements of a particular robot’s behavior and then assess the contribution, or otherwise, of that element to the overall perception of the robot by people. Relating participants’ dynamic appearance ratings of individual robots to independent static appearance ratings provided evidence that could be taken to support a portion of the left hand side of Mori’s theoretically proposed ‘uncanny valley’ diagram. Suggestions for future work are outlined.

Ethical robots: the future can heed us

Bill Joy’s deep pessimism is now famous. “Why the Future Doesn’t Need Us,” his defense of that pessimism, has been read by, it seems, everyone—and many of these readers, apparently, have been converted to the dark side, or rather more accurately, to the future-is-dark side. Fortunately (for us; unfortunately for Joy), the defense, at least the part of it that pertains to AI and robotics, fails. Ours may be a dark future, but we cannot know that on the basis of Joy’s reasoning. On the other hand, we ought to fear a good deal more than fear itself: we ought to fear not robots, but what some of us may do with robots.

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A robust anti-windup control design for electrically driven robots — Theory and experiment

A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach.     

Computational Meta-Ethics

It has been argued that ethically correct robots should be able to reason about right and wrong. In order to do so, they must have a set of do’s and don’ts at their disposal. However, such a list may be inconsistent, incomplete or otherwise unsatisfactory, depending on the reasoning principles that one employs. For this reason, it might be desirable if robots were to some extent able to reason about their own reasoning—in other words, if they had some meta-ethical capacities. In this paper, we sketch how one might go about designing robots that have such capacities. We show that the field of computational meta-ethics can profit from the same tools as have been used in computational metaphysics.     

Special factors,periodicity, and an application to Sturmian words

Let w be a finite word and n the least non-negative integer such that w has no right special factor of length and its right factor of length n is unrepeated. We prove that if all the factors of another word v up to the length n + 1 are also factors of w, thenv itself is a factor ofw. A similar result for ultimately periodic infinite words is established. As a consequence, some ‘uniqueness conditions’ for ultimately periodic words are obtained as well as an upper bound for the rational exponents of the factors of uniformly recurrent non-periodic infinite words. A general formula is derived for the ‘critical exponent’ of a power-free Sturmian word. In particular, we effectively compute the ‘critical exponent’ of any Sturmian sequence whose slope has a periodic development in a continued fraction. Received: 6 May 1999 / 21 February 2000     

Robot football, artificial life, and complexity

Autonomous football-playing robots provide a stimulating research challenge in the sciences of complexity and artificial life. Currently, the game is dominated by problems of making the robots move sufficiently accurately. Even so, the dynamics of robot football are clearly chaotic, requiring some higher level control strategy. A mathematics of therelations between the robots, the ball, and the pitch is introduced. This mathematics supports a theory of structural time necessary for higher level dynamics and cognitive functions. In comparison with computer chess, robot football is more complex and may supplant it as a bench-mark test. Many systems considered to be complex have behaviour which emerges from interacting autonomous agents.Simulation is a new paradigm on which a science of such systems is being built. However, simulation currently suffers from the “can you trust it” syndrome: for many systems it is impractical to do experiments to test the simulation. However, robot football is a system which can be both simulated and built. It is suggested that this makes it an important scientific laboratory subject for understanding the relationship between simulation and real complex system behaviour. This work was presented, in part, at the Third International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 1998     

Practical Formation Control of Multiple Unicycle-Type Mobile Robots with Limited Sensing Ranges

This paper presents a design of cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform a desired tight formation and that guarantee no collisions between any robots in the group. The desired formation can be stabilized at any reference trajectories with bounded time derivatives. The formation control design is based on several nonlinear coordinate changes, the transverse function approach, the backstepping technique, the Lyapunov direct method, and smooth or p −times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need of switchings despite of the robots’ limited sensing ranges. The proposed formation control system is applied to solve a gradient climbing problem.     

Automation of legal sensemaking in e-discovery

Retrieval of relevant unstructured information from the ever-increasing textual communications of individuals and businesses has become a major barrier to effective litigation/defense, mergers/acquisitions, and regulatory compliance. Such e-discovery requires simultaneously high precision with high recall (high-P/R) and is therefore a prototype for many legal reasoning tasks. The requisite exhaustive information retrieval (IR) system must employ very different techniques than those applicable in the hyper-precise, consumer search task where insignificant recall is the accepted norm. We apply Russell, et al.’s cognitive task analysis of sensemaking by intelligence analysts to develop a semi-autonomous system that achieves high IR accuracy of F1 ≥ 0.8 compared to F1 < 0.4 typical of computer-assisted human-assessment (CAHA) or alternative approaches such as Roitblat, et al.’s. By understanding the ‘Learning Loop Complexes’ of lawyers engaged in successful small-scale document review, we have used socio-technical design principles to create roles, processes, and technologies for scalable human-assisted computer-assessment (HACA). Results from the NIST-TREC Legal Track’s interactive task from both 2008 and 2009 validate the efficacy of this sensemaking approach to the high-P/R IR task.     

Intelligent Computer Evaluation of Offender’s Previous Record

This paper considers the problem of how to evaluate an offender’s criminal record. This evaluation is part of the sentencing process carried out by a judge, and may be complicated in the case of offenders with a heavy record. We give a comprehensive overview of the approach to an offender’s past record in various (Western) countries, considering the two major approaches: desert-based and utilitarian. The paper describes the determination of the parameters involved in the evaluation, and the construction of a decision support system to be used by a judge about to pass sentence in a criminal case. The system may be used as a stand-alone system, but can also be integrated as a component of a general sentencing support system, e.g. a statistical sentencing information system. The system is a knowledge-based system. The knowledge base (in rule-form) was created primarily by eliciting knowledge from experts (judges, lawyers, academics and probation officers), but also by applying statutory law, case law and legal authoritative texts. It is flexible in the sense, that a user can introduce his¹ own preferences (expressed as numerical coefficients) and thereby apply different sentencing principles. The prototype is at present undergoing testing by some of the participating judges.     

Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

Trust, privacy, and legal protection in the use of software with surreptitiously installed operations: An empirical evaluation

The class of software which is “surreptitiously installed on a user’s computer and monitors a user’s activity and reports back to a third party on that behavior” is referred to as spyware “(Stafford and Urbaczewski in Communications of the AIS 14:291–306, 2004)”. It is a strategic imperative that software vendors, who either embed surreptitious data collection and other operations in legitimate software applications or whose software is unwittingly used as a delivery vehicle for surreptitious operations, understand users’ perceptions of trust, privacy, and legal protection of such software to remain competitive. This paper develops and tests a research model to explore application software users’ perceptions in the use of software with embedded surreptitious operations. An experiment was undertaken to examine whether the presence of spyware in application software impacts users’ perceptions and beliefs about trustworthiness of the application software, privacy control of the software vendor, United States legal protection, and overall trust of the software vendor. The results indicate users of software with spyware, versus users of software without spyware, have lower trust perceptions of a software vendor. Further examination of trustworthiness as a multi-dimensional construct reveals a software vendor’s competence in appropriately using private user information collected and the user’s belief that the vendor will abide by acceptable principles in information exchange are important influences in gaining users’ overall trust in a vendor. User trust in software utilization is critical for a software vendor’s success because without it, users may avoid a vendor’s software should the presence of spyware be discovered. Software vendors should respond to the strategic necessity to gain users’ trust. Vendors must institute proactive and protective measures to demonstrate that their software should be trusted. These protections could take the form of technological approaches or government legislation, or both.

How Can I Help You? Call Centres,Classification Work and Coordination

As a comparatively novel but increasingly pervasive organizational arrangement, call centres have been a focus for much recent research. This paper identifies lessons for organizational and technological design through an examination of call centres and ‘classification work’ – explicating what Star [1992, Systems/Practice vol. 5, pp. 395–410] terms the ‘open black box’. Classification is a central means by which organizations standardize procedure, assess productivity, develop services and re-organize their business. Nevertheless, as Bowker and Star [1999, Sorting Things Out: Classification and Its Consequences. Cambridge MA: MIT Press] have pointed out, we know relatively little about the work that goes into making classification schema what they are. We will suggest that a focus on classification ‘work’ in this context is a useful exemplar of the need for some kind of ‘meta-analysis’ in ethnographic work also. If standardization is a major ambition for organizations under late capitalism, then comparison might be seen as a related but as-yet unrealized one for ethnographers. In this paper, we attempt an initial cut at a comparative approach, focusing on classification because it seemed to be the primary issue that emerged when we compared studies. Moreover, if technology is the principal means through which procedure and practice is implemented and if, as we believe, classifications are becoming ever more explicitly embedded within it (for instance with the development of so-called ‘semantic web’ and associated approaches to ontology-based design), then there is clearly a case for identifying some themes which might underpin classification work in a given domain.     

Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach

Communication between robots is key to performance in cooperative multi-robot systems. In practice, communication connections for information exchange between all robots are not always guaranteed, which adds difficulty in performing state estimation. This paper examines the decentralized cooperative simultaneous localization and mapping (SLAM) problem, in which each robot is required to estimate the map and all robot states under a sparsely-communicating and dynamic network. We show how the exact, centralized-equivalent estimate can be obtained by all robots in the network in a decentralized manner even when the network is never fully connected. Furthermore, a robot only needs to consider its own knowledge of the network topology in order to detect when the centralized-equivalent estimate is obtainable. Our approach is validated through more than 250 min of hardware experiments using a team of real robots. The resulting estimates are compared against accurate groundtruth data for all robot poses and landmark positions. In addition, we examined the effects of communication range limit on our algorithm’s performance.     

Caregiving robots and ethical reflection: the perspective of interdisciplinary technology assessment

Autonomous robots that are capable of learning are being developed to make it easier for human actors to achieve their goals. As such, robots are primarily a means to an end and replace human actions (or parts of them). An interdisciplinary technology assessment was carried out to determine the extent to which a replacement of this kind makes ethical sense in terms of technology, economics and legal aspects. Proceeding from an ethical perspective, derived from Kant’s formula of humanity, in this article we analyse the use of robots in the care of the elderly or infirm and then examine robot learning in the context of this kind of cooperation.

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Brains,Bodies, and Beyond: Competitive Co-Evolution of Robot Controllers,Morphologies and Environments

This paper presents a series of simulation experiments that incrementally extend previous work on neural robot controllers in a predator-prey scenario, in particular the work of Floreano and Nolfi, and integrates it with ideas from work on the ‘co-evolution’ of robot morphologies and control systems. The aim of these experiments has been to further systematically investigate the tradeoffs and interdependencies between morphological parameters and behavioral strategies through a series of predator-prey experiments in which increasingly many aspects are subject to self-organization through competitive co-evolution. Motivated by the fact that, despite the emphasis of the interdependence of brain, body and environment in much recent research, the environment has actually received relatively little attention, the last set of experiments lets robots/species actively adapt their environments to their own needs, rather than just adapting themselves to a given environment. This paper is an extended version of: Buason and Ziemke. “Co-evolving task-dependent visual morphologies in predator-prey experiments,” in Genetic and Evolutionary Computation Conference, Cantu-Paz et al. (Eds.), Springer Verlag: Berlin, 2003, pp. 458–469.     

Experimental investigation into influence of negative attitudes toward robots on human–robot interaction

Negative attitudes toward robots are considered as one of the psychological factors preventing humans from interacting with robots in the daily life. To verify their influence on humans‘ behaviors toward robots, we designed and executed experiments where subjects interacted with Robovie, which is being developed as a platform for research on the possibility of communication robots. This paper reports and discusses the results of these experiments on correlation between subjects’ negative attitudes and their behaviors toward robots. Moreover, it discusses influences of gender and experience of real robots on their negative attitudes and behaviors toward robots.