Evaluations of the service robot OSONO referring to Joruri puppets and a remote evaluation system with operation and directing elements

  • Masahiko Narita Advanced Institute of Industrial Technology
  • Toru Izui EvolveITWorks Corporation
  • Sachiko Nakagawa Aoyama Gakuin University
  • Nobuto Matsuhira Shibaura Institute of Technology
  • Yasufumi Takama Tokyo Metoropolitan University
Keywords: Robot Services, Active Sensing, Physical Properties, Choreography, Service Robot, Remote evaluation system, Joruri Puppet, RSNP (Robot Service Network Protocol)


One of the important requirements for service robots is attracting people by attrac-tiveness and to be able to exchange messages with people. With reference to the tradi-tional Japanese puppet show, Ningyo Joruri, we have independently developed OSONO, which is a physical robot, with high-quality choreography, we have exhibited it through large-scale exhibitions and evaluated it by the ordinary person. In this paper, we report questionnaire evaluations on OSONO targeting a puppeteer expert group and compare them with existing results targeting the ordinary person. This shows that the method of creating OSONO and its choreography is effective in widely general. Additionally, it is verified that the same result can be obtained in the remote evaluation with the robot operation. In this paper, we evaluate the effect by adding the technique of Ningyo- Joruri to the operation and sound effects of OSONO, and analyze the influence of the quality of the real-time image transferring quality. Through these results, we propose effective system design guidelines for displaying robots online.


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