Legibility of Robot Behavior : A Literature Review

The objective of the work at hand is to give an overview of the work done so far regarding legible robot behavior. Legibility roughly means that a person intuitively understands the intentions of a robot. To this end, we systematically reviewed 32 articles published in the primary HRI publication venues. The purpose of the following review is to answer the questions: How do other researchers define legibility?, How can legibility be measured? How can one implement legible robot behavior?, and Which factors are correlated with legibility?

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[2]  Friederike Eyssel,et al.  Effects of anticipated human-robot interaction and predictability of robot behavior on perceptions of anthropomorphism , 2011, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[3]  Alexandra Kirsch,et al.  Influence of legibility on perceived safety in a virtual human-robot path crossing task , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[4]  Dana Kulic,et al.  Measurement Instruments for the Anthropomorphism, Animacy, Likeability, Perceived Intelligence, and Perceived Safety of Robots , 2009, Int. J. Soc. Robotics.

[5]  Rachid Alami,et al.  Spatial reasoning for human robot interaction , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Alexandra Kirsch,et al.  Towards a Legibility Metric: How to Measure the Perceived Value of a Robot , 2011, ICSR 2011.

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[9]  Michael Beetz,et al.  Generality and legibility in mobile manipulation , 2010, Auton. Robots.

[10]  Rachid Alami,et al.  A decisional framework for autonomous robots interacting with humans , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[11]  Wendy Ju,et al.  Expressing thought: Improving robot readability with animation principles , 2011, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[12]  Siddhartha S. Srinivasa,et al.  Legibility and predictability of robot motion , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[13]  Rachid Alami,et al.  A Human Aware Mobile Robot Motion Planner , 2007, IEEE Transactions on Robotics.

[14]  Klaus Bengler,et al.  Directly or on detours? How should industrial robots approximate humans? , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[15]  Rachid Alami,et al.  Supervision and motion planning for a mobile manipulator interacting with humans , 2008, 2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[16]  R. Chatila,et al.  Supervision and interaction , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[17]  Alexandra Kirsch,et al.  An Integrated Planning and Learning Framework for Human-Robot Interaction , 2009 .

[18]  Siddhartha S. Srinivasa,et al.  Generating Legible Motion , 2013, Robotics: Science and Systems.

[19]  Rachid Alami,et al.  Planning human-aware motions using a sampling-based costmap planner , 2011, 2011 IEEE International Conference on Robotics and Automation.

[20]  Rachid Alami,et al.  A methodological approach relating the classification of gesture to identification of human intent in the context of human-robot interaction , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[21]  Sandra Hirche,et al.  Inferring the goal of an approaching agent: A human-robot study , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[22]  Rachid Alami,et al.  Exploiting human cooperation in human-centered robot navigation , 2010, 19th International Symposium in Robot and Human Interactive Communication.

[23]  Rachid Alami,et al.  Synthesizing Robot Motions Adapted to Human Presence , 2010 .

[24]  Rachid Alami,et al.  Planning Safe and Legible Hand-over Motions for Human-Robot Interaction , 2010 .

[25]  Rachid Alami,et al.  Toward Human-Aware Robot Task Planning , 2006, AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before.

[26]  Luca Maria Gambardella,et al.  Human-friendly robot navigation in dynamic environments , 2013, 2013 IEEE International Conference on Robotics and Automation.

[27]  Rachid Alami,et al.  Planning and Plan-execution for Human-Robot Cooperative Task achievement , 2009, ICAPS 2009.

[28]  Rachid Alami,et al.  A Human-Aware Manipulation Planner , 2012, IEEE Transactions on Robotics.

[29]  Robin R. Murphy,et al.  Survey of Psychophysiology Measurements Applied to Human-Robot Interaction , 2007, RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication.

[30]  Dana S. Nau,et al.  SHOP2: An HTN Planning System , 2003, J. Artif. Intell. Res..

[31]  Andrea Lockerd Thomaz,et al.  Generating anticipation in robot motion , 2011, 2011 RO-MAN.

[32]  Kerstin Dautenhahn,et al.  What is a robot companion - friend, assistant or butler? , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[33]  Rachid Alami,et al.  Task planning for human-robot interaction , 2005, sOc-EUSAI '05.

[34]  Alexandra Kirsch,et al.  Strategies of locomotor collision avoidance. , 2013, Gait & posture.

[35]  Rachid Alami,et al.  Plan-Based Control of Joint Human-Robot Activities , 2010, KI - Künstliche Intelligenz.

[36]  Rachid Alami,et al.  Navigation in the presence of humans , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[37]  Alexandra Kirsch,et al.  Legible robot navigation in the proximity of moving humans , 2012, 2012 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO).

[38]  Vanessa Evers,et al.  Measuring acceptance of an assistive social robot: a suggested toolkit , 2009, RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication.