Abstract
This paper proposes a simulation system that makes a virtual robot effectively learn human-robot interaction (HRI) in a virtual environment. Given that a virtual robot requires a second entity in order to for learning interactions, the virtual robot interacts with a virtual human. An experiment is performed to teach a virtual human and a virtual robot to verify the possibility of HRI learning using the proposed simulation system. Human behaviors are simulated through a virtual human that has learned through programming by demonstration (PbD). A virtual robot selects the proper behaviors depending on the status of the virtual human and itself by applying Q-learning, a type of reinforcement learning. For the experiment, a house is built in the virtual space of the simulator and a virtual human performs daily activities in the house. Furthermore, a process in which a virtual robot helps a virtual human is simulated. The simulation system proposed in this study can be applied to teach a variety of robots that support human beings through HRI.
Original language | English |
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Pages (from-to) | 499-503 |
Number of pages | 5 |
Journal | Advanced Science Letters |
Volume | 21 |
Issue number | 3 |
DOIs | |
State | Published - 1 Mar 2015 |
Keywords
- Human-robot interaction
- Programming by demonstration
- Q-learning
- Virtual simulator