LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots

Participatory design (PD) has been used to good success in human-robot interaction (HRI) but typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. In thi...

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Autores principales:	Katie Winkle, Emmanuel Senft, Séverin Lemaignan
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	social robotics HRI participatory design mutual shaping of technology and society autonomous robots robot development Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/89fe800743fe4b73a9dc1ef070778bfe
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id	oai:doaj.org-article:89fe800743fe4b73a9dc1ef070778bfe
record_format	dspace
spelling	oai:doaj.org-article:89fe800743fe4b73a9dc1ef070778bfe2021-12-03T07:16:01ZLEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots2296-914410.3389/frobt.2021.704119https://doaj.org/article/89fe800743fe4b73a9dc1ef070778bfe2021-12-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.704119/fullhttps://doaj.org/toc/2296-9144Participatory design (PD) has been used to good success in human-robot interaction (HRI) but typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. In this article, we present LEADOR (Led-by-Experts Automation and Design Of Robots), an end-to-end PD methodology for domain expert co-design, automation, and evaluation of social robot behaviour. This method starts with typical PD, working with the domain expert(s) to co-design the interaction specifications and state and action space of the robot. It then replaces the traditional offline programming or WoZ phase by an in situ and online teaching phase where the domain expert can live-program or teach the robot how to behave whilst being embedded in the interaction context. We point out that this live teaching phase can be best achieved by adding a learning component to a WoZ setup, which captures implicit knowledge of experts, as they intuitively respond to the dynamics of the situation. The robot then progressively learns an appropriate, expert-approved policy, ultimately leading to full autonomy, even in sensitive and/or ill-defined environments. However, LEADOR is agnostic to the exact technical approach used to facilitate this learning process. The extensive inclusion of the domain expert(s) in robot design represents established responsible innovation practice, lending credibility to the system both during the teaching phase and when operating autonomously. The combination of this expert inclusion with the focus on in situ development also means that LEADOR supports a mutual shaping approach to social robotics. We draw on two previously published, foundational works from which this (generalisable) methodology has been derived to demonstrate the feasibility and worth of this approach, provide concrete examples in its application, and identify limitations and opportunities when applying this framework in new environments.Katie WinkleEmmanuel SenftSéverin LemaignanFrontiers Media S.A.articlesocial roboticsHRIparticipatory designmutual shaping of technology and societyautonomous robotsrobot developmentMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	social robotics HRI participatory design mutual shaping of technology and society autonomous robots robot development Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	social robotics HRI participatory design mutual shaping of technology and society autonomous robots robot development Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Katie Winkle Emmanuel Senft Séverin Lemaignan LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
description	Participatory design (PD) has been used to good success in human-robot interaction (HRI) but typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. In this article, we present LEADOR (Led-by-Experts Automation and Design Of Robots), an end-to-end PD methodology for domain expert co-design, automation, and evaluation of social robot behaviour. This method starts with typical PD, working with the domain expert(s) to co-design the interaction specifications and state and action space of the robot. It then replaces the traditional offline programming or WoZ phase by an in situ and online teaching phase where the domain expert can live-program or teach the robot how to behave whilst being embedded in the interaction context. We point out that this live teaching phase can be best achieved by adding a learning component to a WoZ setup, which captures implicit knowledge of experts, as they intuitively respond to the dynamics of the situation. The robot then progressively learns an appropriate, expert-approved policy, ultimately leading to full autonomy, even in sensitive and/or ill-defined environments. However, LEADOR is agnostic to the exact technical approach used to facilitate this learning process. The extensive inclusion of the domain expert(s) in robot design represents established responsible innovation practice, lending credibility to the system both during the teaching phase and when operating autonomously. The combination of this expert inclusion with the focus on in situ development also means that LEADOR supports a mutual shaping approach to social robotics. We draw on two previously published, foundational works from which this (generalisable) methodology has been derived to demonstrate the feasibility and worth of this approach, provide concrete examples in its application, and identify limitations and opportunities when applying this framework in new environments.
format	article
author	Katie Winkle Emmanuel Senft Séverin Lemaignan
author_facet	Katie Winkle Emmanuel Senft Séverin Lemaignan
author_sort	Katie Winkle
title	LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
title_short	LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
title_full	LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
title_fullStr	LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
title_full_unstemmed	LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots
title_sort	leador: a method for end-to-end participatory design of autonomous social robots
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/89fe800743fe4b73a9dc1ef070778bfe
work_keys_str_mv	AT katiewinkle leadoramethodforendtoendparticipatorydesignofautonomoussocialrobots AT emmanuelsenft leadoramethodforendtoendparticipatorydesignofautonomoussocialrobots AT severinlemaignan leadoramethodforendtoendparticipatorydesignofautonomoussocialrobots
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LEADOR: A Method for End-To-End Participatory Design of Autonomous Social Robots

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