Improvement of Mobile Tour-Guide Robots from the Perspective of Users

Transcription

1 Journal of Institute of Control, Robotics and Systems (2012) 18(10): ISSN: eissn: Improvement of Mobile Tour-Guide Robots from the Perspective of Users, * (Tae-Beom Ahn 1 and E-Sok Kang 2 ) 1 National Science Museum 2 Chungnam National University Abstract: A mobile tour-guide robot is a very attractive tour-guide in the exhibition hall of science museums and the necessity of tour-guide robots for museums is gradually increasing. Two kinds of robots have served as tour-guide robots in an exhibition hall of the Korea National Science Museum which is a very densely populated museum of many people and exhibits. The robots move around the large exhibition area and provide guide services to lots of visitors. A robot leads the way to the exhibit that a visitor wants to find and it takes the shortest route. Robots were operated for four months from January to April 2011, and we observed behavior of visitors and collected subjective evaluation of users. The result shows that there are four stages of using a mobile tour-guide robot and some differences of subjective evaluations depending on the gender and the age of the user and we suggest several improvements on the mobile tour-guide robot. Keywords: tour-guide robot, science museum, behavior of visitors, evaluation of users I. 서론.,,,.,,..., (Rhino),, 6 * (Corresponding Author) : , : , : : (tbahn@mest.go.kr) : (eskang@cnu.ac.kr) [1] (Minerva) 2 [2] (Lefkos) 2000 m 2 1 [3] Expo.02 (RoboX) 315 m 2 5,,, [4] (Robovie) RFID 2 [5] [6], [7] (Jinny) [8].. Copyright ICROS 2012

2 956 안태범, 강이석..... II. 로봇운용환경,,,,, , 1, 1.,,,. 1, 2 6,600 m 2 3, ( 2,000 m 2 ) ㅁ. 1 A I. (A), (B), (C), (D), (E), (F), (G), E- (H), (I) 9. (X) (A) (E) (I) 1... X, Y. (A). (B). (C). (D). (E). (F). (G). (H) E-. (I). Fig. 1. Overview of the exhibition area where mobile robots serve as tour-guides. Arrows denotes the main stream of visitors. X denotes the information desk and Y is the battery charging station. (A) Basic Science. (B) Special gallery. (C) The famous scientist's room. (D) The entrance of Planetarium. (E) Energy. (F) Mechanics. (G) Information Technology. (H) E-studio. (I) Transportation. 1(X) X. III. 운용로봇 2.,,

3 이용자측면의이동형관람안내로봇개선 외형및구조 I 140 cm, 60 cm, 60 cm, 70 kg II 120 cm, 63 cm, 58 cm, 100 kg I 4.. Fig. 4. The landmarks attached to the ceiling of the exhibition hall. 2. I. Fig. 2. Hardware elements of the tour-guide robot I. LED Dot Matrix (LDM). II [9]. 2. 주행기능,.,..,. [9].. 4. [9]. 3. 사용자인터페이스 10.4 inch LCD,..,. 3. II. Fig. 3. Hardware elements of the tour-guide robot II. IV. 로봇의안내방법..

4 958 안태범, 강이석 1. 안내인터랙션? 5(a),,. 5(b) 로봇의운용 I 1, II , 1 (a) (b) 6.. (a). (b). Fig. 6. The battery charging station. (a) The front view. (b) The side view.. 6(a). 6(b).. (a) (b) 5.. (a). (b). Fig. 5. Graphic user interface of the touch screen on robots. (a) The view of Main menu. (b) Tour-guide menu indicating the exhibit guided by the robot. V. 운용결과 , 이용자의사용패턴. 4,,, 단계 : 접근 (approaching).....

5 이용자측면의이동형관람안내로봇개선 959 (a) (b) (a) (b) 8.. (a). (b). Fig. 8. The location of users when the robot is guiding. (a) The rear of the robot. (b) The side of the robot. (c) (d) 7.. (a). (b). (c). (d). Fig. 7. Various postures for using the touch screen of the robot. (a) A standing posture of kids. (b) A bending posture of teenagers. (c) A standing posture of a man. (d) A sitting posture of teenagers.. 2단계 : 접촉 (contact).., ( 7). 2.,,,. ( 7).,,. 3단계 : 추종 (following).. 8.,.. 4단계 : 종료 (end)...,. 안내기능외적이용형태 2.,....,. 9.. Fig. 9. Children treating the robot as a friend.

6 960 안태범, 강이석. 9,. 2. 이용자의주관적평가 [5,6,10,11] %, 34 %, %, %.,.,. 로봇인상.,,, 4. 1~5 1, 3, 5., 4.32, 4.10, 4.27, 4.02., ( 10). 로봇성능,, 3., 4.06, 4.05, 4.06., ( 11). 이동속도. 0.5 m/sec. 1.8 km 4~5 km,.,,,, 5. (a) Comparison of male and female. (b) Comparison of student and adult Fig. 10. Average score for the robot impression. (a) Comparison of male and female. (b) Comparison of student and adult Fig. 11. Average score for the robot performance.

7 이용자측면의이동형관람안내로봇개선 961 ( 13). 90 %, 60 %., 40 % Fig. 12. Survey results for the traveling speed of the robot %.. 과학전시기능.., 4. 안내데스크와선호도비교 Fig. 13. The preference comparison of the information desk and the tour-guide robot. VI. 안내로봇개선에대한고찰 이용단계별개선 4,. 접근단계 : 이용자접근감지기능부가 접촉단계 : 명령인터페이스구조개선,,..... 추종단계 : 인터랙션기능부가.

8 962 안태범, 강이석... LED Dot Matrix (LDM), 종료단계 : 자동종료기능부가 이용자그룹별개선..,..., % 40 %..,. 90 % 60 %. 55: VII. 결론.,,, 4.,.. 2. 참고문헌 [1] W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun, Experiences with an interactive museum tour-guide robot, Artificial Intelligence, vol. 114, pp. 3-55, [2] S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F.

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