Inhalt

•  
   Introduction
•  
   Example to the Situation of Interest
•  
   Methodology and Research Questions
•  
   Blocking Situation in Narrow Passages
•  
  Sketch of the Related Work
•  
   Human Nonverbal Communication
•  
   Human Attribution of Intention through Motion
•  
   Human Communicative Motion towards a Robot
•  
   Narrow Passages in HRI
•  
   Social Robotics
•  
   Robot Communicative Motion towards a Human
•  
   Robot Motion
•  
   Scope and Aims
•  
   Conclusion
•  
   Outline of this Thesis
•  
   Definitions for the Scope of this Thesis
•  
   Human-Robot Interaction
•  
   Human- and Robot-Centred Approach
•  
   Different Kinds of Robots
•  
  Wheeled Service Robots
•  
   Robots are Anthropomorphised and Humans behave like Humans
•  
   Social Robots
•  
   The Robots BIRON and Snoopy
•  
   The Communicative Aspect of Motion
•  
   Whole-Body Motions
•  
   Whole-Body Motions Part of Nonverbal Communication
•  
   Spatial Coordination via Spatial Prompts
•  
   Preliminary Definition of Motionings
•  
   First Indication on Motionings in HRI
•  
   Natural Behaviour vs. Implicit Behaviour
•  
   Semiotics
•  
   Spatial Coordination in Narrow Passages via Motionings
•  
   Summary
•  
   Conclusion
•  
   Cross-Disciplinary Related Work
•  
  Interpretation of Abstract Motion
•  
   Early Work by Heider and Simmel
•  
   Perceptual Causality: Gestalt Theory
•  
   Neuroscientific Findings
•  
   Judging Intention from Motion is Deeply Imprinted
•  
   Abstract Motion in HRI
•  
   Interpretation of Goal-Directed Motion
•  
   Examples of the Prediction of Goal-Directed Motion
•  
   A Technical System Infers Intention from Motions
•  
  Expression of Motion
•  
   Prediction of Action - Animation Principles
•  
   Animation Principles in HRI
•  
   Representing Entities in Motion through Characteristics
•  
   The Characteristics Position and Orientation
•  
   Motion Signatures Reveal Behaviour Patterns for Robots
•  
   Qualitative Representation of Two Moving Entities in a Relative Framework
•  
   Short Summary
•  
  Interpersonal Distances
•  
   Spatial Influence via Interpersonal Zones
•  
   Neuroscientific Link: Estimation of Social Distances and Coping with Social Life
•  
   Spatial Coordination via Interpersonal Distances in HRI
•  
   Factors that Influence the Interpersonal Distance in HRI
•  
   Limitations of the Cited Work
•  
   Summary
•  
   Methodology of the Conducted Studies
•  
   Investigating Robotic Motion Patterns
•  
   Investigating Human Motionings
•  
   Observational and Exploratory Case Studies
•  
   Investigating Robotic Motion Patterns
•  
  Exploratory Case Study of Robotic Motion Patterns
•  
   The Narrow Corridor Setting
•  
   Cover Story for the Participants
•  
   Experimenters
•  
   The Robot BIRON
•  
   Robot Motion Patterns in the Narrow Corridor
•  
   Preparing for Q1.2.
•  
   Demographic Results
•  
   Analyses of the Questionnaire
•  
   Question 1: Perceiving Change of Behaviour
•  
   Question 2: Cause-Effect Relationship
•  
   Question 3: Interpreting Intention
•  
   Question 4: BIRON should do
•  
   Question 5: Suggestions how BIRON should signal
•  
   Question 6: How would a participant signal
•  
   Summarising Discussion
•  
   Preliminary Analysis of Single Motion Intervals
•  
   Limitations and Advice for the Study on Human Motionings
•  
   Investigating Human Motionings
•  
  Observational Case Study on Human Motionings
•  
   Cover Story and Task of the Participants
•  
   Experimenter and Wizard Operator
•  
   The Robot Snoopy
•  
   Leaving Episode at a Narrow Door Frame
•  
   Two Conditions: less blocking and more blocking
•  
   Demographic Results
•  
   Creating a Coding Scheme for Motionings
•  
   The Coding Scheme for Motionings
•  
   Description of the Annotation of Motionings
•  
   Analysing the Conditions and the Temporal Context of Motionings
•  
   Conditions and Motioning Categories
•  
   The Frequency of Motionings per Participant
•  
   The Duration of Motionings
•  
   Duration of Succeeding Pauses
•  
   Short Summary of the Temporal Context of Motionings
•  
   Analysing the Characteristics Position, Orientation, Distance and Trajectory
•  
   Relative Position
•  
   Relative Orientation
•  
   Combining Relative Position and Relative Orientation
•  
   Relative Distance
•  
   Relative Trajectory
•  
   Multinomial Logistic Regression: Relative Trajectory and Relative Distance
•  
   MLR of all four Characteristics
•  
   Summary
•  
   Comparison of Motionings to Other Motion Intervals
•  
   Analysis of the Episodes
•  
   Discussion of Changes to the Coding Scheme and the Characteristics
•  
   Summary
•  
   Contributions
•  
   Definition of Motionings
•  
   Discussion
•  
   Three Heuristics for The Practical and Actual Use of the Results for Robots
•  
   Conclusion
•  
  Ongoing Research and Solutions to the Limitations
•  
   Qualitative Trajectory Calculus
•  
   QTC in Spatial Interaction of a Robot and a Human
•  
   Design of Robot Motions
•  
   Creating Intuitive Robot Motion
•  
   Transferring Human Wheelchair Motion to Robots
•  
   Prototyping Motion through the Interpretation of Robot Motion
•  
   Conclusion
•  
   References
•  
   Notations for the Statistical Analysis
•  
  Investigating Human Motionings
•  
   The Frequency of Motionings per Participant
•  
   The Duration of Motionings and Succeeding Pauses
•  
   Analysis of the Characteristic Relative Distance
•  
   Analysis of the Characteristic Relative Trajectory