Adapting robot behavior based upon human-robot interaction
First Claim
Patent Images
1. A robotic device comprising:
- a sensor;
a speaker;
memory; and
a processor that is operably coupled to the sensor, the speaker, and the memory, wherein the memory stores instructions that, when executed by the processor, cause the processor to perform acts comprising;
determining that a human is in an environment of the robotic device based upon a signal output by the sensor;
responsive to the human being determined to be in the environment of the robotic device, computing a probability that an audio signal, when emitted by the speaker of the robotic device, will cause the human to interact with the robotic device, wherein the probability is computed based upon past successes and failures of the robotic device when the robotic device previously emitted audio signals when attempting to cause other humans to interact with the robotic device in the environment; and
based upon the computed probability, causing the speaker of the robotic device to emit the audio signal.
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Abstract
Technologies pertaining to human-robot interaction are described herein. The robot includes a computer-readable memory that comprises a model that, with respect to successful completions of a task, is fit to observed data, where at least some of such observed data pertains to a condition that is controllable by the robot, such as position of the robot or distance between the robot and a human. A task that is desirably performed by the robot is to cause the human to engage with the robot. The model is updated while the robot is online, such that behavior of the robot adapts over time to increase the likelihood that the robot will successfully complete the task.
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Citations
20 Claims
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1. A robotic device comprising:
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a sensor; a speaker; memory; and a processor that is operably coupled to the sensor, the speaker, and the memory, wherein the memory stores instructions that, when executed by the processor, cause the processor to perform acts comprising; determining that a human is in an environment of the robotic device based upon a signal output by the sensor; responsive to the human being determined to be in the environment of the robotic device, computing a probability that an audio signal, when emitted by the speaker of the robotic device, will cause the human to interact with the robotic device, wherein the probability is computed based upon past successes and failures of the robotic device when the robotic device previously emitted audio signals when attempting to cause other humans to interact with the robotic device in the environment; and based upon the computed probability, causing the speaker of the robotic device to emit the audio signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method performed by a processor of a robotic device, the method comprising:
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receiving, at the processor, a signal that is output by a sensor of the robotic device, the signal is indicative of a condition of an environment of the robotic device; detecting, by the processor, that a human is in the environment with the robotic device based upon the signal output by the sensor; responsive to detecting that the human is in the environment with the robotic device, determining, by the processor, a probability that an audio signal, when emitted by a speaker of the robotic device, will cause the human to interact with the robotic device, wherein the probability is determined based upon past successes and failures of the robotic device when the robotic device attempted to cause humans to interact with the robotic device; and based upon the determined probability, controlling, by the processor, the speaker of the robotic device to output the audio signal. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A computer-readable storage medium of a robotic device comprising instructions that, when executed by a processor of the robotic device, causes the processor to perform acts comprising:
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receiving a signal that is output by a sensor of the robotic device, the signal is indicative of a condition of an environment of the robotic device; detecting that a human is in the environment with the robotic device based upon the signal output by the sensor; and responsive to detecting that the human is in the environment with the robotic device, computing a probability that, when the robotic device emits an audio signal from a speaker of the robotic device, the human will interact with the robotic device, wherein the probability is computed based upon past successes and failures of the robotic device when attempting to cause humans to interact with the robotic device; and outputting, from the speaker of the robotic device, the audio signal, wherein the audio signal is output based upon the computed probability.
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Specification