Communication Robot for Science Museum with RFID Tags

Abstract

This paper reports about an interactive humanoid robots, Robovie, that work in a science museum where visitors are supposed to study and grow interests toward science. Each visitor wore an RFID tag , and looked around exhibits in the museum. Robovie has an implemented function for an autonomous interaction as free-play [1]. Moreover, it obtains its exact position, visitors' positions, and their moving history in the museum from ubiquitous sensor networks , including RFID tag readers, recording cameras and infrared cameras. It performs exhibits-guiding by moving around to several exhibits and explaining these exhibits based on the sensor information , in addition to the free-play interaction. We compared the effect of the exhibits-guiding and the free-play interaction under three operating conditions. As a result, the free-play interaction and exhibits-guiding contributed to promote visitors' interests for science, while Robovie mostly received higher subjective impression, which is probably due to its novelty. Key Words: Communication Robot, Ubiquitous Sensor Network 1.‚Í ‚ ¶ ‚ß ‚É ‹ß "N,"ú •í ŽÐ ‰ï ‚Ì ‚È ‚© ‚Å •l ŠÔ ‚AE‚© ‚© ‚í ‚è ‚È ‚ª ‚ç Šˆ"Šˆ"® ‚· ‚é •gƒR ƒ~ ƒ…ƒj ƒP •[ ƒV ƒ ‡ ƒ" ƒ• ƒ{ ƒb ƒg•h ‚Ì OE¤ ‹ † ŠJ "-‚ª •i ‚ñ ‚Å ‚¢ ‚é.ƒR ƒ~ ƒ… ƒj ƒP •[ ƒV ƒ ‡ ƒ" ƒ• ƒ{ ƒb ƒg‚Í •l ŠÔ ‚AE "¯ ‚ ¶ ŠÂ‹« ‚Å ,•l ŠÔ‚Ì 'Î "™ ‚È ƒp •[ ƒg ƒi •[ ‚AE ‚µ ‚Ä •U ‚é •' ‚¢,Žå ‚É ƒR ƒ~ ƒ…ƒj ƒP •[ ƒV ƒ ‡ ƒ" ƒ^ ƒX ƒN ‚É ‚¨‚¢‚¨‚¢ ‚Ä •l ŠÔ ‚ð ƒT ƒ| •[ ƒg‚· ‚é ‚ae ‚¤ ‚È ƒ• ƒ{ ƒb ƒg‚Å ‚ ‚é.‰ä •X ‚Í,•l •Eƒ• ƒ{ ƒb ƒg ŠÔ‚Ì ƒR ƒ~ ƒ…ƒj ƒP •[ ƒV ƒ ‡ ƒ" ‚É ‚¨‚¢‚¨‚¢ ‚Ä ‚Í ƒ• ƒ{ ƒb ƒg‚Ì •l ŠÔOE^ ‚Ì •g 'Ì ‚ª-LOEø ‚Å ‚ ‚é ‚AE•l ‚¦ ‚Ä ‚¢ ‚é.-á ‚¦ ‚Î,"¹ ‚ðˆÄ‚ðˆÄ "à ‚· ‚é ‚AE ‚¢ ‚¤ ƒ^ ƒX ƒN ‚ð •l ‚¦ ‚é ‚AE,ƒ• ƒ{ ƒb ƒg‚Ì Žw •· ‚µ ‚â Ž‹ •ü ‚É ‚ae ‚é "® •ì ‚ð •l ŠÔ ‚Í '¼ Š´"Š´"I ‚É-•‰ð‚Å ‚« ‚é. ‚± ‚Ì ‚ae ‚¤ ‚È ƒR ƒ~ ƒ…ƒj ƒP •[ ƒV ƒ ‡ ƒ" ƒ• ƒ{ ƒb ƒg‚Ì 'm "\ ‚Ì ŽÀOE» ‚É ‚Í "ñ ‚ ‚Ì ƒA ƒv ƒ• •[ ƒ` ‚ª ‚AE ‚ç ‚ê ‚Ä ‚¢ ‚é.ˆêˆê‚ˆêˆê‚Â-Ú‚Ì ƒA ƒv ƒ• •[ ƒ` ‚Í ,ƒ• ƒ{ ƒb ƒg'P 'Ì ‚Ì "\-Í ‚ð •‚ ‚ß ‚é ƒA ƒv ƒ• •[ ƒ` ‚Å ‚ ‚é.ƒZ ƒ" ƒV ƒ" ƒO,ˆÓ Žv OEˆ 'è,•s "® ‚É ŠÖ‚· ‚é •ˆ-• ‹@ •\ ‚AE ‚» ‚Ì ‚½ ‚ß ‚Ì ƒn •[ ƒh ƒE ƒF ƒA ‚ð ‚· ‚× ‚Ä ƒ• ƒ{ ƒb ƒg ‚É "à •ï ‚· ‚é,OE 'Ì 'm "\ ‚Ì ƒA ƒv ƒ• •[ ƒ` ‚Í ƒ• ƒ{ ƒe ƒBƒN ƒX •ª-ì ‚Å ‚± ‚ê ‚Ü ‚Å •· ‚ñ ‚É OE¤‹ † ‚ª •s ‚í ‚ê,2'« •à •s ‚È ‚Ç ‚Ì ƒ• ƒ{ ƒb ƒg"Á-L‚Ì-â 'è ‚É ŠÖ ‚µ ‚Ä ‚Í 'å ‚« ‚È •¬ ‰Ê‚ð ‚à ‚½ ‚ç ‚µ ‚½ ‚à ‚Ì ‚Ì,ƒ• ƒ{ ƒb ƒg Ž©•g ‚ª "® ‚-‚± ‚AE ‚É ‚ae ‚é ƒZ ƒ" ƒV ƒ" ƒO‚Ì • §-ñ ‚Í 'å ‚« ‚-,"Á ‚É •l ŠÔ ‚AE ‚Ì ƒR ƒ~ ƒ…ƒj ƒP •[ ƒV ƒ ‡ ƒ" ‚AE‚¢ ‚¤-Ú•W ‚É 'Î ‚µ ‚Ä ‚Í ƒ• ƒ{ ƒb ƒg'P 'Ì ‚É ‚ae ‚é ƒZ ƒ" ƒV ƒ" ƒO "\-Í ‚Í OEˆ‚µOEˆ‚µ ‚Ä •\ •ª ‚AE‚Í ‚¢ ‚¦ ‚È ‚¢. ‚± ‚ê ‚É 'Î ‚µ ‚Ä,ŠÂ ‹« ‚AEˆê 'Ì ‚AE ‚È ‚è ƒ• ƒ{ ƒb ƒg‚Ì 'm •« ‚ð ŽÀOE» ‚· ‚é ‚AE‚¢ ‚¤ ŠÂ‹« 'm "\ ‚Ì ƒA ƒv ƒ• •[ ƒ` ‚ª ‚ ‚é.‚± ‚ê ‚Ü ‚Å ‚É ‚à,ŠÂ ‹« ‚É-" ‚ß •ž ‚Ü ‚ê ‚½ Ž‹ Šo •},'® Šo[3],•G Šo[4]‚AE ‚¢ ‚Á ‚½ŠÂ‹« OE^ ƒZ ƒ" ƒT ‚Ì OE¤ ‹ † ‚â,‚± ‚ê ‚ç ‚ð "• • ‡ ‚µ ‚Ä ƒT •[ ƒr ƒX ‚É-˜-p‚· ‚é ƒ• ƒ{ ƒe ƒB ƒN ƒX ƒ‹ •[ ƒ€[5]‚AE ‚¢ ‚Á ‚½ ‰ž-p‚ª •l ‚¦ ‚ç ‚ê ‚Ä ‚« ‚½.‚³ ‚ç ‚É,‹ß "N,ƒZ ƒ" ƒT ‚â OEv ŽZ ‹@ •\ ‚ð ŠÂ‹« ' † ‚É •Õ •Ý ‚³ ‚¹ ‚é,ƒ † ƒr ƒL ƒ^ ƒX ƒR ƒ" ƒs ƒ…•[ ƒe ƒB ƒ" ƒO ‚AEOEÄ‚Î ‚ê ‚é Žè-@‚ª '•-Ú ‚³ ‚ê ‚Ä ‚¢ ‚é. ‚± ‚ê ‚Í,ŠÂ ‹« OE^ ƒZ ƒ" ƒT ‚É ‰Á‚¦ ‚Ä,RFIDƒ^ ƒO ‚È ‚Ç ‚É ‚ae ‚è ‚· ‚× ‚Ä ‚Ì •¨ 'Ì ‚ÉID‚ð-^‚¦ ‚é ‚± ‚AE ‚Å,ƒR ƒ" ƒs ƒ…•[ ƒ^ ‚É ‚ae ‚é ŠÂ‹« "F Ž¯ ‚Ì "ï ‚µ ‚³ ‚ð 'á OE¸‚·OE¸‚· ‚é ƒA ƒv ƒ• •[ ƒ` ‚Å ‚ ‚é ‚AE ‚¢ ‚¦ ‚é[6]."Á ‚É •l •EƒR ƒ" ƒs ƒ…•[ ƒ^ ŠÔ‚Ì 'Š OEÝ•ì-p‚Ö ‚Ì ‰ž-p ‚AE ‚µ ‚Ä ,•¼ 'º ‚ç ‚Ì-³ "d OE¹ ƒ^ ƒO Cobit‚É ‚ae ‚é •ê •Š OEÅ-L‚Ì ‰¹ •º ƒK ƒC ƒh[7]‚â,Šp ‚ç ‚É ‚ae ‚é •Ô ŠO•ü ƒ^ ƒO ‚É ‚ae ‚é Ž‹ •ü OEŸ•o ‚ð-˜-p ‚µ ‚½ "WŽ¦ •¨ ˆÄ "à[8]‚È ‚Ç,IDƒ^ ƒO ‚ð-˜-p ‚µ ‚Ä "¾ ‚ç ‚ê ‚é •‚ "x ‚Ì •î •ñ ‚ð '¼ •Ú 'Š OEÝ•ì-p ‚É-˜-p‚· ‚é OE¤ ‹ † ‚ª •i ‚ñ ‚Å ‚¢ ‚é.‚Ü ‚½,IDƒ^ ƒO ‚AE ŠÂ‹« OE^ ƒZ ƒ" ƒT ‚ð 'g ‚Ý • ‡ ‚í ‚¹ ‚é ‚± ‚AE ‚Å,'½ •" ‚Ì •l ‚ÌˆÊ‚ÌˆÊ 'u ‚ð •³ Šm ‚É 'Ç •Õ ‚· ‚é ‚AE‚¢ ‚Á ‚½ ƒZ ƒ" ƒV ƒ" ƒO ‚Ì OE¤ ‹ † ‚à •s ‚í ‚ê ‚Ä ‚¢ ‚é[9].‚± ‚ê ‚ç ‚Ì ŠÂ‹« 'm "\ ‚Ì ƒA ƒv ƒ• •[ ƒ` ‚É ‚ae ‚é OE¤ ‹ † ‚Í,ƒ• ƒ{ ƒb ƒg‚Ö ‚Ì ‰ž-p ‚AE‚¢ ‚¤ • ¶-¬ ‚Å OE©‚é ‚AE,ƒ † ƒr ƒL ƒ^ ƒX ƒZ ƒ" ƒT ‚ð-˜-p ‚µ ‚Ä 'P ˆê ƒ• ƒ{ ƒb ƒg‚© ‚ç ‚Ì ŠÂ ‹« "F Ž¯ ‚Ì "ï ‚µ ‚³ ‚ð 'á OE¸‚·OE¸‚· ‚é ƒA ƒv ƒ• •[ ƒ` ‚Å ‚ ‚é ‚AE ‚¢ ‚¦ ‚é.