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Perceptual Control Theory for Engagement and Disengagement of Users in Public Spaces

Published: 06 March 2017 Publication History

Abstract

This paper presents Perceptual Control Theory-a model that explains behaviour as an attempt to keep sensory inputs in a desired range and demonstrates that it can be used to develop an approach designed to make robots capable of human interaction. In particular, we present an approach that embodies the most salient features of the theory through a feedback loop. This approach has been implemented on a Pepper robot, and a preliminary experiment has been performed by deploying the robot in the entrance hall of a university building. The results show that the robot effectively engages and disengages the attention of people in 43% and 39% of cases, respectively. This result has been obtained in a fully natural setting where people were unaware of being involved in an experiment and therefore behaved spontaneously.

References

[1]
William Treval Powers. Behavior: The control of perception. Aldine Chicago, 1973.
[2]
E.A. Schegloff and H. Sacks. Opening up closings. Semiotica, 8(4):289--327, 1973.
[3]
G. Cziko. The things we do. MIT Press, 2000.
[4]
S. Skogestad and I. Postlethwaite. Multivariable feedback control: analysis and design. Wiley and Sons, 2007.
[5]
C.M. Bishop. Pattern recognition. Springer Verlag, 2006.

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cover image ACM Conferences
HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
March 2017
462 pages
ISBN:9781450348850
DOI:10.1145/3029798
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 06 March 2017

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Author Tags

  1. perceptual control theory
  2. social robotics
  3. social signals

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  • European Commission

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HRI '17
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HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;
Overall Acceptance Rate 192 of 519 submissions, 37%

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HRI '25
ACM/IEEE International Conference on Human-Robot Interaction
March 4 - 6, 2025
Melbourne , VIC , Australia

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