INFO 5356-030: Introduction to Human-Robot Interaction
Cornell Tech
Fall 2024, 2022
Course Description
Robots are making their way into our everyday lives, working across many applications including in people’s home, healthcare, and retail settings to name a few. As these systems become more integrated into our lives, they must be designed to be useful, functional, and socially acceptable; however, this remains a key challenge for the field of human-robot interaction (HRI). This course covers core computational, engineering, social challenges, and approaches for effective HRI in human-centered environments. Topics include research methods, robot design and anthromorphization, perception of people, groups and teams, spatial interaction, emotion and intent design in HRI, social signal processing – recognition and synthesis, and augmented and virtual reality (AR/VR) for HRI. Students should expect to learn about seminal research in HRI, gain hands-on experience with physical mobile robots, implement systems for real-time interactions with users, and learn to use digital fabrication tools such as laser cutting and 3D printing.
Prerequisites: CS 2800 or equivalent, experience programming in Python, or permission of the instructor.
Reading: Bartneck, Christoph, Tony Belpaeme, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Šabanović. Human-robot interaction: An introduction. Cambridge University Press, 2020.
Introduction to HRI Course
Learning Outcomes
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Program physical mobile robots to perform complex behaviors for HRI using control architectures.
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Engage in robot design and prototyping of new robot embodiments and behaviors.
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Understand important topics in HRI and the impact of robots in real-world settings.
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Design a gamified user study to measure and evaluate the robot’s effectiveness and user perceptions of the robot.
Introduction to HRI Course
Course Schedule
Introduction to HRI Course
Robotic Platform for Teaching
TURTLEBOT4
9kg
Payload Capacity
The HRI course utilized the TurtleBot 4 platform that is built on the iRobot® Create 3 educational robot – a sturdy mobile base that provides an array of intelligent sensors for accurate localization and positioning with a speed up to .3 m/s. The Create 3 has a standalone Robot Operating 2 interface and unlike previous TurtleBots, it includes integrated batteries and a charging dock.
Introduction to HRI Course
Final Projects
We organized a K-12 event in collaboration with the Cornell Tech K-12 initiative team including Diane Levitt, Sophie Lachez, and Meg Ray. 50 NYC Dock Street School students from predominantly underserved communities participated in a 3-hour event. Students in the HRI course demonstrated cumulative knowledge at this event including programming the robot to perform complex behaviors, designing and prototyping a robotic embodiment to capture the role the robot plays in the game, demonstrating their robot with four groups of middle school students, and administering study surveys after games to evaluate how the participants perceived their robot.
Dr. Robot
The robot advances through the human body when participants correctly respond to questions about the human body in a web-based interfaced.
Mario’s Coin Quest
The robot moves left or right at based on 3D red and green blocks on the ground, and collects coins along the way. The player with the most coins wins!
Pong Soccer
The blue and yellow teams throw balls into the blue and yellow side of the soccer ball to make the robot advance to their goal.
Rat Roulette
The robot splits to select a number at a fixed probability and navigates to the participant standing at the selected number and color (red and black) to give them a block of cheese.
RoboSketch
The robot follows a participant to draw a shape on the ground.
Red Light, Green Light
The robot says ‘red light’ and participants stop moving, and it says ‘green light’ for participants to move forward. If you move during ‘red light’, you are out!
Cat and Mouse
The robot rotates and stops randomly. If you are caught in front of the robot, you are out!
Time's Up!
The robot plays music and participant teams guess where the song comes from using flash cards. The robot detects QR codes to recognize correct or incorrect robot music references. Participants that select the correct music references win!
Credits: We thank Niti Parkih, the Cornell Tech MakerLab Director, for providing educational tools for digital fabrication, and William Leon for creating 3D models of the final project robots.
