別紙4 (課程博士)
Date of submissi0η

平成Department

学専攻

Engineering
Pplicant's name

氏名月日

第 KB9302号

StudenuD Number

Computer science and年

Prof. MICHI0 OKADA

ぢ女余曾番・号'Supervisors

指導教員
KHAOULAYOUSSEF
Abstract

論文内容の要旨(博士)Title ofThesis

博士学位論文名

Proto、conlmunication, social Bonding and persuasiveness fol Minin〕aⅡy
Designed Robots sca仔old by Non・Expert Traln磁'S(Approx.800 、vords)(要旨 1,200字程度)

In ailning to build teachable robots, child development, persuasive techniques and the huma11

Iear11ing process serve as inspiration. children naturaⅡy interact with adults to learn new things in
Social situations.1hey motivate caregivers that seek out learning partners and leaming

Opponunities. caregivers in retum try to teach the children new abilities by minoring the mostUsed (child's requests, caregiver's previous responses) combinations to identify the best al)swer that
Suits the child's realtime request

Xve ca11this action ofteaching children new abilities on・1ine, dynamic scaffolding. A primary
hypothesis of this work is that a social robot can be considered as a child lNhile the non・exped
trainer is the one responsible ofdoing tl)is dynamic scaffolding.
イ嚢叉In a dynamic sca丘olding situation, the caregiV引' maintains a n〕̲ental model of the leamers
Understanding and structures the leaming task appropriately with timely feedback a11d guidance.
The learner contributes to the process by expressing their internal state via a visible feedback.1hisreciprocalinteraction enables the learner to leverage from instruction to build the appropriate
representations and associations so that a smooth meaning construction emerges (communlcatlonProtocoD

The problem in the case ofthe human・robotinteraction (HRD,isthat a non・experttrainer could
assign some instructions to the robot and then forgets about them, etc‑ That it is why, dynamic
Scaa'oldinσ of robots by non、exped trainers could lead inm'ementaⅡy with di伍Culties to theConstruction of a protoc01. However, such HRl could encoU11ter several breakdowns during theProtocol construction or reuse.1n fact,to incrementaⅡy build up a smooth stable protoc01, we needto track how in the case ofthe h田nan a11d the robot, patterns of communication could be formed
In this context, we intend to use the sociable dining table (SDT), to explore theProto、communication process based on a 圦10z experiment. A丘er extracting the redunda11t pattems

゛Of interaction while the communication chalmelis the hlocking, we propose al) architecture thatenablesthe robotto interact with the huma11 autonomously

Ifwe suppose thatthe robot could have been abandoned for a long period a11d the non・exped
trainer decides to use it, it is very probable that he could have forgotten the protoc01's dia'erent
Iules. Thatitis why,the reuse could encounter many di伍Culties.1n such a case, the robotis taken

as a scapeσoat while it is the hulnan's fault if the interaction was not smooth during theCommU11ication protocol reuse. consequently, the robot should try to mitigate the previously
estabHshed communication protoc01(PECP) reuse process different breakdowns as we calmot face
the huma11With his faults because this may threaten his social face.
Xve propose to use inarticulate uttera11Ces (1US) as a way that may refresh the h山nan's memory.1nfact, if xNe suppose that lus are used during the first interaction's instance (encoding phase), the玉remembra11Ce ofthe pECp could be facilitated ifthe robot generates the lus before thatit executes
the behaviors so thatthe huma11Could rememberthe rules ofthe pEcp and avoidsthe faulty robot'S
behaviors without that the human's social face is attacked.圦7e tested our method on two robotic

Platf0如S: SDl and mobile・robot(ROBOMO)
Such a method could be useful for people who are relational but for some cold・hearted people,
itis di錨Cult forthem to a丘'ord the needed attention al)d feelthe bonding for the robot so that theyCatl encode the communication protocol during the firstinteraction's instance. That it is why, in ourWork 、Ne propose a toolthat helpsto measure the social bonding to detect whether a behavior could
have led to an in口'ease in the positive emotions. positive emotions are the motivator for people toencode the rules on their minds using the audio iconS 4US). N入le validated our tool a11d we use it in4¥气a case study where we prove that using a proactive robot is better suited for the case ofminima11y
desiσned robot・non experttrainerinteraction. ROBOMo was used during the experiments that are
related to the social bonding 御'oblematic
As the reuse of a the pECp could be difficult for some people lNhich we classify under theblanket of "utilitarian people"(because the social bonding is lo、N for them), we sho、N in a first
Study thatthere is a period oftime caⅡed "gamn〕a windo、N" during which the human's mind iseasy to be guided by a persuasive message so thatthe non・experttrainer keeps on training/ orreusing the pECP.＼Ne ca11 Upon the persuasiveness rather than only the bonding that could
evolve to make sure that users continue taking part in interaction 圦lith the robot any how istheir profile (whether utilitarian or relationaD. X入7e prove that if a persuasive strategy is usedby the robot during the gamma window,the human could be persuaded to continue interactlng
With the robot.