HRI2006 – Advance Program


March 2, 2006

Day & Time



Keynote Address


March 2




Session Chair: Michael Goodrich (Brigham Young University)


Invited Talk: The Law of Stretched Systems in Action:  Exploiting Robots, Dr. David Woods

David Woods, Ohio State University

Session 1

Metrics and work study practices



March 2


Session Chair: David Kaber (North Carolina State University)


Daily HRI Evaluation at a Classroom Environment

F. Tanaka, J. Movellan, B. Fortenberry, K. Aisaka

Development of a Test Bed for Evaluating Human-Robot Performance for Explosive Ordnance Disposal Robots

J. Scholtz, M. Theofanos, B. Antonishek

Searching for a Quantitative Proxy for Rover Science Effectiveness

E. Pudenz, G. Thomas, J. Glasgow, P. Coppin, D. Wettergreen, N. Cabrol

Human Control of Multiple Unmanned Vehicles: Effects of Interface Type on Execution and Task Switching

P. Squire, G. Trafton, R. Parasuraman

Common Metrics for Human-Robot Interaction

A. Steinfeld, T. Fong, D. Kaber, M. Lewis, J. Scholtz, A. Schultz, M. Goodrich

Session 2:

Programming and OS Issues in HRI


March 2


Session Chair: Reid Simmons (Carnegie Mellon University)


The Human-Robot Interaction Operating System

T. Fong, C. Kunz, L. Hiatt, M. Bugajska

Developer Oriented Visualisation of a Robot Program

T. Collett, B. MacDonald

Usability Evaluation of an Automated Mission Repair Mechanism for Mobile Robot Mission Specification

L. Moshkina, Y. Endo, R. Arkin

Interaction Debugging: an Integral Approach to Analyze Human-Robot Interaction

T. Kooijmans, T. Kanda, C. Bartneck, H. Ishiguro, N. Hagita

Session 3:

Situational Awareness



March 2


Session Chair: Maja Mataric' (University of Southern California)


Changing Shape: Improving Situation Awareness for a Polymorphic Robot

H. Yanco, J. Drury, W. Howell, B. Minten, J. Casper

Attaining Situational Awareness for Sliding Autonomy

B. Sellner, L. Hiatt, R. Simmons, S. Singh

A Decomposition of UAV-Related Situation Awareness

J. Drury, L. Riek, N. Rackliffe

Comparing the usefulness of video and map information in navigation tasks

C. Nielsen, M. Goodrich

Poster Presentation and Reception




Gesture-based Control of Highly Articulated Biomechatronic Systems

Z. Luo, X. Shusong, C. I-Ming, D. Been-Lirn, Henry

Acquiring a Shared Environment Representation

E. Topp, H. Hüttenrauch, H. Christensen, K. Severinson-Eklundh

Experiments in Socially Guided Machine Learning: Understanding Human Intent of Reward/Punishment

A. Thomaz, G. Hoffman, C. Brezeal

Affective Expression in Appearance-constrained Robots

C. Bethel, R. Murphy

Robot Tutoring Through Shaping of Human Behavior From Observed Mobility Gestures

D. Feil-Seifer, M. Mataric

The Art of Designing Robot Faces – Dimensions for Human-Robot Interaction

M. Blow, K. Dautenhahn, A. Appleby, C. Nehaniv, D. Lee

Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration

G. Podnar, J. Dolan, A. Elfes, M. Bergerman, H. Brown, A. Guisewite

On the effect of the user's background on communicating grasping commands

M. Ralph, M. Moussa

Structural descriptions in human-assisted robot visual learning

G. Kruijff, J. Kelleher, G. Berginc, A. Leonardis

Auditory Perspective Taking

E. Martinson, D. Brock

Improved Human-Robot Teaming through Facilitated Initiative

D. Few, D. Bruemmer, M. Walton

Sociality of Robots: Do Robots Construct or Collapse Human Relations?

D. Sakamoto, T. Ono

The First Segway Soccer Experience: Towards Peer-to-Peer Human-Robot Teams

B. argall, Y. Gu, B. browning, M. Veloso

Affective Feedback in Closed Loop Human-Robot Interaction

P. Rani, L. Changchun, N. Sarkar

Perceptions of ASIMO: Task Structure and User Attributes as Elements of Human-Robot Interaction Design

B. Mutlu, S. Osman, J. Forlizzi, J. Hodgins, S. Kiesler

3D Modeling of Spatial Referencing Language for Human-Robot Interaction

S. Blisard, M. Skubic, R. Luke III, J. Keller

Socially Distributed Perception

M. Michalowski, C. DiSalvo, S. Sabanovic, D. Busquets, L. Hiatt, N. Melchior, R. Simmons

Multimodal person tracking and attention classification

M. Michalowski, R. Simmons

Commonality of  Control Paradigms for Unmanned Systems

M. Gacy, D. Dahn

A Model for Imitating Human Reaching Movements

M. Hersch, A. Billard

Challenges to Grounding in Human-Robot Interaction

K. Stubbs, P. Hinds, D. Wettergreen



March 3, 2006

Day & Time



Keynote Address


March 3


Session Chair: Alan Schultz (Naval Research Laboratory)


Invited Talk: Every Body is Somebody: The Psychology and Design of Embodiment

Clifford Nass, Stanford University

Session 4

Learning, Adaptation and Imitation in HRI



March 3


Session Chair: Aude Billard (École Polytechnique Fédérale de Lausanne)


FOCUS: A Generalized Method for Object Discovery for Robots that Observe and Interact with Humans

P. Rybski, M. Veloso, F. von Hundelshausen

Using Context and Sensory Data to Learn First and Second Person Pronouns

K. Gold, B. Scassellati

Teaching Robots by Moulding Behavior and Scaffolding the Environment

J. Saunders, C. Nehaniv, K. Dautenhahn

Effects of Adaptive Robot Dialogue on Information Exchange and Social Relations

C. Torrey, A. Powers, M. Marge, S. Fussell, S. Kiesler

Evaluation of Robot Imitation Attempts: Comparison of the System's and the Human's Perspectives

A. Alissandrakis, C. Nehaniv, K. Dautenhahn, J. Saunders

Session 5

Assistive Robotics


March 3


Session Chair: Holly Yanco (University of Massachusetts Lowell )


Ergonomics-For-One in a Robotic Shopping Cart for the Blind

V. Kulyukin, C. Gharpure

Encouraging Physical Therapy Compliance with a Hands-Off Mobile Robot

R. Gockley, M. Mataric'

Spatial Routines for a Speech Controlled Wheelchair

S. Tellex, D. Roy

On Natural Language Dialogue with Assistive Robots

V. Kulyukin

Session 6

User Studies I



March 3


Session Chair: Dennis Perzanowski (Naval Research Laboratory)


How may I serve you? A robot companion approaching a seated person in a helping context

K. Dautenhahn, M. Walters, S. Woods, K. Koay, C. Nehaniv, E. Sisbot, R. Alami, T. Simeon

Effects of Head Movement on Perceptions of Humanoid Robot Behavior

E. Wang, C. Lignos, A. Vatsal, B. Scassellati

Interactions with a Moody Robot

R. Gockley, J. Forlizzi, R. Simmons

Session 7

User Studies II



March 3


User Studies II
Session Chair: Hiroshi Ishiguro (Osaka University / ATR)


Empirical Results from Using a Comfort Level Device in Human-Robot Interaction Studies

K. Koay, K. Dautenhahn, S. Woods, M. Walters

An Investigation of Real World Control of Robotic Assets under Communication Latency

J. Luck, P. McDermott, L. Allender, D. Russell

Effective Team-Driven Multi-Model Motion Tracking

Y. Gu, M. Veloso


March 4, 2006

Day & Time



Session 8

Cognitive Science in HRI



March 4


Session Chair: Cynthia Breazeal (Massachusetts Institute of Technology)


The Advisor Robot: Tracing People’s Mental Model from a Robot’s Physical Attributes

A. Powers, S. Kiesler

The Utility of Affect Expression in Natural Language Interactions in Joint Human-Robot Tasks

M. Scheutz, P. Schermerhorn, J. Kramer, C. Middendorff

Analysis of Human Behavior to a Communication Robot in an Open Field

S. Nabe, T. Kanda, K. Hiraki, H. Ishiguro, K. Kogure, N. Hagita

Children and robots learning to play hide and seek

G. Trafton, A. Schultz, D. Perzanowski, M. Bugajska, W. Adams, N. Cassimatis, D. Brock

Session 9

Interface Design and Analysis



March 4


Session Chair: Jodi Forlizzi (Carnegie Mellon University)


Effective User Interface Design for Rescue Robotics

M. Kadous, R. Sheh, C. Sammut

Service Robots in the Domestic Environment: A Study of the Roomba Vacuum in the Home

J. Forlizzi, C. DiSalvo

A Video Game-Based Framework for Analyzing Human-Robot Interaction

J. Richer, J. Drury

User, Robot and Automation Evaluations in High-Throughput Biological Screening Processes

N. Segall, R. Green, D. Kaber

Session 10

Dialog, Mixed-Initiative and Multimodal Interfaces


March 4


Session Chair: David Bruemmer (Idaho National Laboratory)


Clarification dialogues in human-augmented mapping

G. Kruijff, H. Zender, P. Jensfelt, H. Christensen

The Effect of Head-Nod Recognition in Human-Robot Conversation

C. Sidner, C. lee, L. Morency, C. Forlines

Working with Robots and Objects: Revisiting Deictic Reference for Achieving Spatial Common Ground

A. Brooks, C. Breazeal

Interactive Humanoid Robots for a Science Museum

M. Shiomi, T. Kanda, H. Ishiguro, N. Hagita

How contingent should a communication robot be?

F. Yamaoka, T. Kanda, H. Ishiguro, N. Hagita