Take it! Exploring Cartesian Features for Expressive Arm Motion

摘要

In this work, a controlled user study explores four Cartesian spatial trajectories (high, low, direct, and from the side arcs), with three unique objects (flower, dagger, water). In mathematics, the Cartesian planes of horizontal, vertical, and forward/back are widely used for path-planning, much like any animal seeking to traverse the surface of the earth. Gravity naturally pulls objects down, and extra force must be exerted to push them upwards. In Laban notation, a dance annotation language, actors and dancers are similarly taught to think of table, door, and wheel planes (direct Cartesian correlates). What is the impact of these cardinal directions on interpretation of robot handovers? In these results, we find that direct paths, water, and flowers are generally seen positively, with daggers and high paths as least friendly. There is also a statistically significant interaction between path and object on robot predictability ratings. In terms of nuance, we also find that elegance is best predicted by path shape. These findings expand prior features of mobile robot expression to arcing planes, finding the up/down degree of freedom to significantly impact human interpretation and experience. Future work can continue such investigations grounded in real world tasks such as assistive robotics (passing a blanket or tissue), or service (retrieving a ticket for a bus).