TOURBOT: A RESEARCH AND PRODUCT DESIGN STUDY APPLYING HUMAN 
ROBOT INTERACTION AND UNIVERSAL DESIGN PRINCIPLES TO  
THE DEVELOPMENT OF A TOUR GUIDE ROBOT 
 
Except where reference is made to the work of others, the work described in this thesis is 
my own or was done in collaboration with my advisory committee. This thesis does not 
include proprietary or classified information. 
 
 
 
_____________________ 
Robert Vern Terrell Jr. 
 
 
 
Certificate of Approval: 
 
 
 
 
_____________________          _____________________ 
T. Shea Tillman           Tsai Lu Liu, Chair 
Assistant Professor           Assistant Professor 
Industrial Design           Industrial Design 
 
 
 
_____________________           _____________________ 
Jerrod Bradley Windham          George T. Flowers 
Assistant Professor                 Dean 
Industrial Design                Graduate School  
 
  
TOURBOT: A RESEARCH AND PRODUCT DESIGN STUDY APPLYING HUMAN 
ROBOT INTERACTION AND UNIVERSAL DESIGN PRINCIPLES TO  
THE DEVELOPMENT OF A TOUR GUIDE ROBOT 
 
Robert Vern Terrell Jr. 
 
A Thesis 
Submitted to the  
Graduate Faculty of 
Auburn University 
In Partial Fulfillment of the 
Requirements of the 
Degree of 
Master of Industrial Design 
 
 
 
Auburn, Alabama 
August 10, 2009 
iii 
 
TOURBOT: A RESEARCH AND PRODUCT DESIGN STUDY APPLYING HUMAN 
ROBOT INTERACTION AND UNIVERSAL DESIGN PRINCIPLES TO  
THE DEVELOPMENT OF A TOUR GUIDE ROBOT 
 
 
Robert Vern Terrell Jr. 
 
 
Permission is granted to Auburn University to make copies of this thesis at its discretion, 
upon the request of the individuals or institutions at their expense. The author  
reserves all publication rights. 
 
 
 
 _______________________ 
   Signature of Author 
   
_______________________ 
   Date of Graduation 
 
 
 
iv 
 
VITA 
 
Robert Vern Terrell Jr., Son of Robert V. Terrell and Barbara A. Terrell, was born 
January 9, 1979 in Jupiter, Florida. He attended Jupiter Elementary School in Jupiter up 
to second grade, and continued elementary at Pleasant Grove Elementary School in 
Inverness, Florida. He also attended Inverness Middle School, and graduated from Citrus 
High School in 1998. He began his undergraduate studies at Auburn University in the 
Fall Quarter of 1998, receiving a Bachelor of Arts degree in Criminology December 16, 
2005. He then received a Bachelor Science Degree in Environmental Design May 10, 
2007. He was then accepted into the Auburn University Graduate Program and began 
work towards a Masters of Industrial Design in the summer of 2007. 
 
v 
 
THESIS ABSTRACT 
 
TOURBOT: A RESEARCH AND PRODUCT DESIGN STUDY APPLYING HUMAN 
ROBOT INTERACTION AND UNIVERSAL DESIGN PRINCIPLES TO  
THE DEVELOPMENT OF A TOUR GUIDE ROBOT 
Robert Vern Terrell Jr. 
Masters of Industrial Design August 10, 2009 
(BSEV, Auburn University, 2007) 
(BA, Auburn University, 2005) 
 
137 Typed Pages 
 
Directed by Tsailu Liu 
 Robots have intrigued the imagination of society since their introduction in 1921 
by Czechoslovakian writer Karel Capek in his play, Rossum?s Universal Robots. Since 
that time, advances in the field of robotics have increased the opportunities for robots to 
interact with humans in various situations and environments. With that being said, it 
should be noted that less focus has been placed on the design of robots that can be used 
by people of all abilities and disabilities.  
The purpose of this study is to combine the principles of Human Robot Interaction 
and Universal Design in an effort to formulate an approach that will assist in the 
development of human interaction robots, by specifically applying the approach to the 
vi 
 
design of a tour guide robot. The approach consists of five steps. The first step is 
developing a task chart that lists each task that the robot is to complete during its 
function. The second step is that the chart is applied to a task map that helps visualize the 
tasks in the intended sequence to make sure nothing was overlooked and to see the 
function as a whole. Once this is complete the third step is that the tasks can be applied to 
an interaction chart that divides the tasks into four sections. The sections will identify 
what hardware and software is needed to complete the tasks and meet the needs of the 
user. The fourth step combines the information obtained from the three previous steps 
into a universal flowchart. The purpose of the flowchart is to visualize all the information 
in the intended sequence that the robot is to perform during its function, and make 
adjustments to the tasks, hardware, and software as needed. The final phase of the 
approach is formulating a complete list of the robot?s components that includes the 
hardware and software needed in order for each component to function. The completed 
list was then applied to the design of a tour guide robot.
vii 
 
Style manual or journal used:             APA Style 
Computer software used:           Microsoft office 2007, PC 
Adobe Photo Shop CS3 
Adobe Illustrator CS3 
Rhinoceros 4.0 
SolidWorks 2008 
Maxwell Render 
  
viii 
 
TABLE OF CONTENTS 
 
LIST OF FIGURES ............................................................................................................ x 
Chapter 1 Introduction ........................................................................................................ 1 
1.1 Need for Study .......................................................................................................... 2 
1.2 Objectives of Study ................................................................................................... 4 
1.3 Assumptions .............................................................................................................. 4 
1.4 Scope and Limits ....................................................................................................... 5 
1.5 Procedure and Method .............................................................................................. 5 
1.6 Anticipated Outcome................................................................................................. 6 
Chapter 2 History and Definitions ...................................................................................... 7 
2.1Origins ........................................................................................................................ 7 
2.2 Definition .................................................................................................................. 8 
2.3 Defining Characteristics ............................................................................................ 9 
2.4 Components ............................................................................................................. 10 
2.5 Categories of Robots ............................................................................................... 11 
2.6 Asimov?s Laws of Robotics .................................................................................... 15 
2.7 History ..................................................................................................................... 19 
2.8 Time Line ................................................................................................................ 19 
Chapter 3.0 Human Robot Interaction (HRI) ................................................................... 39 
3.1 Definition ................................................................................................................ 39 
3.2 Origins ..................................................................................................................... 40 
3.3 Goals........................................................................................................................ 40 
3.4 The Seven Principles of Human Robot Interaction ................................................. 41 
3.5 Examples of Human Robot Interaction studies ....................................................... 44 
3.6 Conclusion of Human Robot Interaction ................................................................ 50
ix 
 
 
Chapter 4.0 Universal Design ........................................................................................... 51 
4.1 Definitions ............................................................................................................... 51 
4.2 Accessible Design ................................................................................................... 52 
4.2.1 Americans With Disabilities Act (ADA).......................................................... 52 
4.2.2 The Telecommunications Act (Section 255) .................................................... 53 
4.2.3 Workforce Investment Act (Section 508) ......................................................... 54 
4.3 Adaptable Design .................................................................................................... 54 
4.4 Universal Design ..................................................................................................... 55 
4.5 Principles of Universal Design ................................................................................ 58 
4.6 Categories of Universal Design............................................................................... 66 
Human Factor principles ........................................................................................... 66 
Process Related Principles ......................................................................................... 67 
Transcending Principles ............................................................................................ 67 
4.7 Conclusion of Universal Design ............................................................................. 68 
Chapter 5.0 TourBot ......................................................................................................... 70 
5.1 Background of the TourBot Project ........................................................................ 70 
5.2 Design Brief ............................................................................................................ 71 
5.3 Design Goals ........................................................................................................... 75 
5.4 Robot Tasks ............................................................................................................. 77 
5.5 Product Comparison Research ................................................................................ 78 
5.6 Approach ................................................................................................................. 81 
UNIVERSAL FLOWCHART LEGEND ..................................................................... 91 
5.7 Human Interface Devices ........................................................................................ 98 
5.9 Conclusion ................................................................................................................ 117 
5.10 Continued study ................................................................................................... 122 
Works Cited .................................................................................................................... 123 
 
x 
 
LIST OF FIGURES 
 
Figure 1 is a table that represents the projected growth rate of the world?s robot 
population by 2010 ............................................................................................................. 3 
Figure 2 1921 R.U.R poster ................................................................................................ 7 
Figure 3 Robots categorized by type of control ................................................................ 12 
Figure 4 Robots categorized by locomotion ..................................................................... 13 
Figure 5 Robots categorized by the consumer .................................................................. 14 
Figure 6: cover of Isaac Asimov's book I, ROBOT .......................................................... 15 
Figure 7 visual timeline page 1 ......................................................................................... 29 
Figure 8 visual timeline page 2 ......................................................................................... 30 
Figure 9 visual timeline page 3 ......................................................................................... 31 
Figure 10 visual timeline page 4 ....................................................................................... 32 
Figure 11 visual timeline page 5 ....................................................................................... 33 
Figure 12 visual timeline page 6 ....................................................................................... 34 
Figure 13 visual timeline page 7 ....................................................................................... 35 
Figure 14 visual timeline page 8 ....................................................................................... 36 
Figure 15 visual timeline page 9 ....................................................................................... 37 
Figure 16: QRIO in a noisy environment ......................................................................... 46 
Figure 17: ROBOVIE interacting with children ............................................................... 48 
Figure 18 Design relationship diagram ............................................................................. 57 
Figure 19 Elevator adjacent to escalators in shopping mall avoids segregating groups 
using different means of mobility (Mall Pictures) ............................................................ 59 
Figure 20 Large grip scissors accommodate use with either hand ................................... 60 
Figure 21 Kia's power seat control switch mimics the shape of the seat, enabling users to 
make adjustments intuitively. ........................................................................................... 61 
Figure 22 Dark background, contrast in color, and brightness on overhead sign contrasts 
with lighted ceiling. (designworkplan design blog, 2008) ................................................ 62 
Figure 23 The chain-break on a chainsaw locks the chain in the event in the event of a 
kickback, protecting the user from the chain. (Husqvarna, 2009) .................................... 63 
Figure 24 Split, angled keyboard allows user to maintain neutral position from elbow to 
fingers. (ergoware, 2008) .................................................................................................. 64
xi 
 
Figure 25 Motorcycle/Trike for the Handicapped,  the  door on the back of the 
motorcycle opens up wide enough to drive a wheelchair onto the lift for storage during 
transportation. (Crowe, 2008) ........................................................................................... 65 
Figure 26 Product comparison chart ................................................................................. 79 
Figure 27 Task chart ......................................................................................................... 83 
Figure 28 Task Flowchart ................................................................................................. 84 
Figure 29 Interaction chart page 1 .................................................................................... 85 
Figure 30 Interaction chart page 2 .................................................................................... 86 
Figure 31 Interaction chart page 3 .................................................................................... 87 
Figure 32 Interaction chart page 4 .................................................................................... 88 
Figure 33 Universal flowchart full view ........................................................................... 89 
Figure 34 the three sections of information in the universal flowchart ............................ 90 
Figure 35 Universal design element symbols ................................................................... 91 
Figure 36 Universal flowchart section 1 ........................................................................... 92 
Figure 37 Universal flowchart section 2 ........................................................................... 93 
Figure 38 Universal flowchart section 3 ........................................................................... 94 
Figure 39 Universal flowchart section 4 ........................................................................... 95 
Figure 40 Universal flowchart section 5 ........................................................................... 96 
Figure 41 Hardware and Software chart ........................................................................... 97 
Figure 42 example of facial expressions with LED lights ................................................ 99 
Figure 43 first round of sketches .................................................................................... 103 
Figure 44 second round of sketches ................................................................................ 104 
Figure 45 third round of sketches ................................................................................... 106 
Figure 46 CAD screen shot ............................................................................................. 107 
Figure 47 testing stand with LCD and head .................................................................... 108 
Figure 48 Tsai Lu Liu reviewing LCD height ................................................................ 109 
Figure 49 taking measurement of LCD height for person in wheelchair ....................... 109 
Figure 50 full-scale foam core printout .......................................................................... 110 
Figure 51 second review with committee ....................................................................... 110 
Figure 52 suggestions made by committee members during second review .................. 111 
Figure 53 screen shot of CAD model after the committee?s suggestions were applied . 112 
Figure 54 CAD model with arms down, this was a test to make sure the robot would still 
fit threw doorways. ......................................................................................................... 113 
Figure 55 CAD model docked with charging base ......................................................... 114 
Figure 56 FDM model .................................................................................................... 115 
Figure 57 front and back view of the scale model .......................................................... 116 
Figure 58 final rendering with description of hardware ................................................. 119 
Figure 59 panorama of the TourBot in Broun Hall ......................................................... 120 
Figure 60 taking a tour of Broun Hall ............................................................................. 121 
 
1 
 
Chapter 1 Introduction 
 
Robots have intrigued the imagination of society since their introduction by 
Czechoslovakian writer Karel Capek in his play, Rossum?s Universal Robots, in 1921. 
Since then robots have been featured in popular Sci-fi films, characters such as Sonny in 
(I Robot), C3PO and R2D2 in the (Star Wars saga), form an exciting and interesting 
direction for future robotics. Unlike the robots of today that autonomously perform tasks 
with minimal human interaction, the robots featured in these films are androids that serve 
as companions or partners, working side by side with humans to solve problems and 
perform tasks. Advances in the field of robotics have increased the possibilities for robots 
to interact with humans in many different situations. With the development of next 
generation robots like the Honda ASIMO humanoid robot and the Toyota partner robot, 
robots similar to the fictional characters mentioned above are becoming a reality. It was 
with the development of humanoid robots that the field of Human Robot Interaction 
(HRI) research was initiated. In the future more robots will be used to help people in 
many ways. They can perform many routine chores and duties, with greater efficiency, 
reliability, and long term coast effectiveness (compared to humans). However, there is an 
estimated 386 million of the world's working-age people that have some type of 
disability. The world?s population of people 65 years of age plus is said to grow from 
 
2 
 
eight-percent to seventeen percent by the year 2050 (U.S. Census Bureau, 2004), this 
part of the population has been little attention in terms of robot design. With this 
occurring it is clear that robots need to be designed to include the needs of these people. 
The purpose of this study is to combine the principles of Human Robot Interaction 
and Universal Design in an effort to formulate a set of guidelines that will assist in the 
development of human interaction robots by specifically applying these guidelines to the 
design of a tour guide robot. 
1.1 Need for Study 
There have been many advances in the field of robotics. However, a great deal of 
work remains to be seen before successfully introducing autonomous robots into homes 
and work places. Robots can have many advantages over humans. For example robots 
can enter environments or territories that may be far too dangerous for humans. Unlike 
humans, robots can perform repetitive tasks with precision, strength and efficiency, 
without getting bored or fatigued. There are robots being developed to fill many positions 
currently being held by humans. Currently roboticists are working on systems for the 
elderly with hopes of extending the amount of time that seniors can live independently. 
They are also working on systems that can serve as classroom aids for teachers and also 
as caretakers for children, allowing the parents to have jobs and work full time if they 
choose to do so. The two examples mentioned above provide just a small glimpse into 
what the future can hold utilizing the growing and ever advancing field of robotics.  
 
3 
 
 As of 2008 the world?s robot population has reached 4.49 million, and that 
number is projected to almost double by 2010. (World Robotics, 2008)
 
Figure 1 is a table that represents the projected growth rate of the world?s robot population by 2010 
 
One specific opportunity presents itself in Japan. Anthropologist Jennifer 
Robertson is researching the effects of robots on Japanese society; she states ?the 
industrial sector of Japan prefers robots over foreign laborers, because machines do not 
enhance racial tensions by evoking wartime memories as foreigners do?. Another 
pressing issue faced by the Japanese is a decrease in birth rates coupled with an ageing 
population. It has been projected that forty percent of their population will be over age 
sixty five by the year 2055. ?As Japan's population grows older and its labor force 
 
4 
 
shrinks, researchers say new types of robots will play a major role as there simply won't 
be enough people to do these jobs? (Robotics.com, 2007).  
Robot production is growing at an astonishing rate therefore roboticists should 
adapt the principles of universal design to their design process. Doing this will give 
robots the ability to serve a majority of the population. If robots are to be an integral part 
of tomorrow?s society, they should be able to adapt to users of all abilities and 
environments.  
1.2 Objectives of Study 
The objective of this thesis is to provide individuals in the field of robotics with an 
approach that combines the principles of human robot interaction and universal design for 
the purpose of developing human interaction robots. The approach will consist of two 
components. The first being human robot interaction and the second being the principals 
of universal design. When the two components are combined the end result or product is 
a robot that can be used by more than the majority of the population in a variety of 
situations or environments.  
1.3 Assumptions 
During the course of this thesis, there are some components assumed to be true. 
First, the principals of universal design can be applied to robotics and the current level of 
technology can facilitate the needs of individuals with disabilities. Second, there is a 
direct correlation between Universal Design and Human Robot Interaction. It is also 
 
5 
 
assumed that the two disciplines can be combined and applied to the development of 
social robots. The third and final assumption is that incorporating universal design 
principles with robot design, the result will be a robot that is more accessible to people 
with all abilities. 
1.4 Scope and Limits 
This study focuses on the field of robotics. The design effort will be focused on 
the development of a tour guide robot, but with great opportunity for the approach to be 
applied to all robots that interact with people. The primary research will be directed 
toward universal design and human robot interaction with an attempt to combine the two 
sets of principles to use as a guide for the design phase. The endeavor of the tour guide 
robot will be coupled with the Auburn University Tourbot program. The limits of this 
study will include the time, funds, and resources required to build such a complex entity, 
and the robot already has a function (giving tours). 
1.5 Procedure and Method 
 The development of a robot that is capable of operating intelligently with humans 
is a complex process that requires a vast understanding of psychological, technical, and 
contextual influences. It also requires determination and creative problem solving when 
considering all the abilities and disabilities of the users.  
The procedure of this study will begin with a design brief and a list design goals. 
It will also include research in the areas of universal design and human robot interaction 
 
6 
 
to devise a combined list of principles that will provide a foundation for the study. This 
will be followed by product comparison research with similar robots. The results of this 
research will then be used to formulate an approach which will consist of a task chart that 
identifies the main functions that robot is to perform. This chart will then be applied to a 
task map that shows the functions and the progression of the robot in its environment. 
This will be followed by an interaction chart that breaks down the tasks into four sections 
and identifies what hardware and software is needed to meet the needs of the user and 
complete each task. This list will then be incorporated in to a universal flowchart that 
highlights the secondary functions and interactions with the user to identify any 
additional components or functions the robot will require. From the flowchart a 
comprehensive list of hardware and software will be generated and applied to the design 
and prototyping phase of the study. The testing phase will include the construction of a 
full scale foam core mockup to test the height adjustability of the robot and the viewing 
height of the LCD with various users. The results of the test will then be reviewed and 
applied to the final design, and a quarter-scale model will be constructed for the final 
presentation. 
1.6 Anticipated Outcome 
 The anticipated outcome of this study will consist of the completion of two main 
goals. The first goal will be the development of an approach for robot design that 
combines the principles of human robot interaction and universal design. The second goal 
is to apply the approach to the design a tour guide robot. 
 
7 
 
Chapter 2 History and Definitions 
 
2.1Origins  
 
 Although the notion of 
robots dates back to the Iliad 
2500 years ago, the actual term 
Robot is derived from the 
Czechoslovakian word robota or 
robotnik meaning slave, 
compulsory servant, or forced 
work. It was introduced to the 
public by Czechoslovakian 
playwright Karel Capek in 1921 
in his play R. U.  R. which is an 
acronym for Rossum?s Universal 
Robots. In the play, the character 
Rossum portrayed an Englishman that used biological methods to invent and mass-
produce artificial people called robots. The robots? purpose was to serve humans. 
Figure 2 1921 R.U.R poster 
 
8 
 
Eventually the robots rebelled, wiping out humanity in the process, becoming the 
dominant race. (Clarke, December 1993)  
Karel did not coin the word robot himself, naming his brother Josef Capek the 
actual originator. In an article in the Czech journal Lidove noviny in 1933, he explained 
that he had originally wanted to call the artificial people labori (a word derived from the 
Latin word labor, meaning work). After much deliberation he came to the conclusion that 
he did not like the word. He then sought advice from his brother Josef Capek who in turn 
suggested "robota" and so the word robot was introduced to the English language. 
The term robotics which is known as a branch of engineering was coined by Isaac 
Asimov in his 1942 short story Runaround. Robotics refers to ?a science or art involving 
both artificial intelligence (to reason) and mechanical engineering (to perform physical 
acts suggested by reason)? (Chandor, 1985). 
2.2 Definition 
 The Robot Institute of America defines a ROBOT as: "A reprogrammable, 
multifunctional manipulator designed to move material, parts, tools or specialized 
devices, through variable programmed motions for the performance of a variety of 
tasks." 
As the current definition states, robots exhibit three key elements:  
 Programmability - implying computational or symbol- manipulative capabilities 
that a designer can combine as desired (a robot is a computer);  
 
9 
 
 Mechanical capability - enabling it to act according to its environment rather than 
merely function as a data processing or computational device (a robot is a 
machine) 
 Flexibility - it can operate using a range of programs and can manipulate and 
transport materials in a variety of ways.  
As defined by the IEEE Robotics and Automation Society, ROBOTICS involves 
designing and implementing intelligent machines which can do work too dirty, too 
dangerous, too precise or too tedious for humans.  
2.3 Defining Characteristics 
Tech Bytes is an article written by CBC news that included interviews of four 
professionals in the field of robotics. In the interview the professionals were asked ?Your 
view: Hoy would you define a robot?? According to them a typical robot may have 
several or possibly even all of the following properties. 
 It is artificially created. 
 It can sense its environment, and manipulate or interact with things in it. 
 It has some ability to make choices based on the environment, often using 
automatic control or a preprogrammed sequence. 
 It is programmable. 
 It moves with one or more axes of rotation. 
 
10 
 
 It makes coordinated movements. 
 It moves without direct human intervention. 
 It appears to have intent or agency. 
2.4 Components 
Today?s robots are comprised of advanced sensory and servo motors that work 
together to perform a task. A robot can include any of the following components:  
 effectors - "arms", "legs", "hands", "feet" 
 sensors - parts that act like senses and can detect objects or things like heat and 
light and convert the object information into symbols that computers understand 
 computer - the brain that contains instructions called algorithms to control the 
robot 
 equipment - this includes tools and mechanical fixtures 
 Characteristics that make robots different from regular machinery are that robots 
usually function by themselves, are sensitive to their environment, adapt to 
variations in the environment or to errors in prior performance, are task oriented 
and often have the ability to try different methods to accomplish a task. 
 
 
 
11 
 
2.5 Categories of Robots 
 
 There are three different ways to categorize robots. They can be categorized by 
their type of control, locomotion, or by their application by the user. This is illustrated 
through the following tables. 
  
 
12 
 
  
Figure 3 Robots categorized by type of control 
 
13 
 
 
Figure 4 Robots categorized by locomotion 
 
14 
 
 
Figure 5 Robots categorized by the consumer 
 
15 
 
The TourBot can be categorized by all three methods. Its control type will be a 
fully autonomous with the ability to switch to partial in certain situations. As categorized 
by locomotion it will fall under the mobile category as a driving robot because its 
locomotion will be via wheels. In the consumer category its intended use will be by 
civilians as a service robot. 
2.6 Asimov?s Laws of 
Robotics 
For decades science fiction has 
been a source of inspiration for designers 
and engineers in their development of 
robots. Although Isaac Asimov was not 
the first to conceive of non-threatening 
robots, he was the first to see the potential 
for robots to cause harm to humans. 
Asimov decided that there needed to be a 
safeguard, or set of laws that would 
govern the processes of robotic judgment. 
?In conjunction with another well known 
science fiction writer John W. Campbell, 
they formulated the three laws of robotics? (Clarke, December 1993). 
 
Figure 6: cover of Isaac Asimov's book I, ROBOT 
 
16 
 
First Law:  
A robot may not injure a human being, or, through inaction, allow a human being 
to come to harm.  
Second Law:  
A robot must obey orders given it by human beings, except where such orders 
would conflict with the First Law.  
Third Law:  
A robot must protect its own existence as long as such protection does not conflict 
with the First or Second Law. (Asimov, 1942) 
  
The three laws were first introduced to the public in Asimov?s fourth short story 
?Runaround?, and appear to insure the dominance of the human race over robots. The 
laws also prevent the use of robots for evil purposes. However after introducing the three 
laws Asimov noticed a conflict within the laws and issued a revised version in 1950. 
 
The Meta-Law: 
A robot may not act unless its actions are subject to the Laws of Robotics.  
 
 
17 
 
Law Zero:  
A robot may not injure humanity, or, through inaction, allow humanity to come to 
harm.  
Law One:  
A robot may not injure a human being, or, through inaction, allow a human being 
to come to harm, unless this would violate a higher-order Law.  
Law Two:  
A robot must obey orders given it by human beings, except where such orders 
would conflict with a higher-order Law.  
A robot must obey orders given it by superior robots, except where such orders 
would conflict with a higher-order Law.  
Law Three: 
A robot must protect the existence of a superior robot as long as such protection 
does not conflict with a higher-order Law.  
A robot must protect its own existence as long as such protection does not conflict 
with a higher-order Law.  
 
 
 
18 
 
Law Four:  
A robot must perform the duties for which it has been programmed, except where 
that would conflict with a higher-order law.  
The Procreation Law: 
A robot may not take any part in the design or manufacture of a robot unless the 
new robot's actions are subject to the Laws of Robotics. (Clarke, December 1993) 
  
Although the laws were intended to be a literary device, they are considered 
common ground when discussing ethical questions about the future of robots. In March 
2007, the South Korean government announced that it would issue a Robot Ethics 
Charter, setting standards for both users and manufacturers, later in the year. According 
to Park Hye-Young of the Ministry of Information and Communication, ?the Charter may 
reflect Asimov's Three Laws, attempting to set ground rules for the future development 
of robotics? (Lovgren, 2007). 
 
 
 
 
 
19 
 
2.7 History 
 The notion of robots dates as far back as the ancient legends of the Iliad. The 
concept of the robot first appears as talking handmaidens of gold that were made by the 
hands of the Greek god Hephaestus. In reality the first robots to appear were known as 
automates, human like figures run by hidden mechanisms. These automates were used in 
churches and other places of worship to falsely provide evidence of a higher power.  
2.8 Time Line  
 
The time line below lists landmark achievement?s in the history of robotics, 
followed by a visual timeline. 
Date Significance Robot Name Inventor 
250 
B.C. Water clock with movable figures, first automata. (Clepsydra) 
Ctesibius of 
Alexandria 
1495 
Leonardo da Vinci designed and possibly built the 
first humanoid robot. The robot was designed to sit 
up, wave its arms, and move its head via a flexible 
neck while opening and closing its jaw. The design 
notes for the robot appear in sketchbooks that were 
rediscovered in the 1950s. It is not known whether or 
not an attempt was made to build the device. 
Leonardo?s 
Robot 
Leonardo da 
Vinci 
 
20 
 
1865 First Steam Man apparently used to pull things. Steam Man John Brainerd 
1868 Steam Man, capable of standing upright, running and walking, had the strength of three horses. Dederick?s Steam Man Zadoc P. Dederick 
1885 Electric Man which is more-or-less an electric version of the Steam Man. Electric Man Frank Reade Jr. 
1893 
It was the figure of a man, constructed of iron, and 
fitted with internal mechanism, which, when put in 
motion by steam, was intended to cause the figure to 
move much as a human being walks. 
Moore's 
Steam Man 
(Prof.) 
George 
Moore 
1893 
Boilerplate was a mechanical man developed by 
Professor Archibald Campion during the 1880s and 
unveiled at the 1893 World's Columbian Exposition. 
It was built in a small Chicago laboratory, and was 
originally designed as a prototype soldier for use in 
resolving the conflicts of nations. Although it was the 
only such prototype, Boilerplate was eventually able 
to exercise its proposed function by participating in 
several combat actions. 
In the mid-1890s, Boilerplate embarked on a series 
of expeditions to demonstrate its abilities, the most 
ambitious being a voyage to Antarctica. Boilerplate 
is one of history's great ironies, a technological 
milestone that remains largely unknown. Even in an 
age that gave birth to the automobile and aero-plane, 
a functioning mechanical man should have been 
accorded more significance. 
Boilerplate 
Professor 
Archibald 
Campion 
1897 Radio-controlled submersible boat. Tesla?s Sub Nikola Tesla 
1912 
Electric Dog, designed by two American experts in 
radio-controlled devices, John Hammond Jr. and 
Benjamin Miessner. The robot had Selenium cell 
'eye' which could detect light which could detect 
light for maneuvering around objects. 
Electric Dog 
John 
Hammond Jr. 
and Benjamin 
Miessner 
1937 Westinghouse creates ELEKTRO a human-like robot that could walk, talk, and smoke. ELEKTRO Westinghouse 
1948 Elmer and Elsie known as the turtle robots. The robots were capable of finding their charging station Turtle robots W. Grey Walter 
 
21 
 
when their battery power ran low. 
1951 
Electric squirrel, contained four sense organs and a 
brain of six relays, hunts for nuts or small round 
objects. 
Squee Edmond C. Berkeley 
1952 
A small digital computing machine mounted on 
wheels, which is able to explore mazes made of toy 
train track and "learn" the correct path to a 
predetermined goal. 
The Maze 
Solving 
Computer 
Richard A. 
Wallace 
1953 a mechanical man built from discarded aircraft parts is operated by remote control. Garco Harvey Chapman 
1955 First design for a mechanical walking vehicle. Teal Peter Holland 
1960 American Machine and Foundry (AMF Corp.) markets the first cylindrical robot. Versatran 
Harry 
Johnson and 
Veljko 
Milenkovic. 
1961 
 
First industrial robot in use. It was used at the 
General Motors factory in New Jersey. It performed 
spot welding and extracted die castings. 
UNIMATE George Devol 
1961 
It was build with dozens of transistors, and when its 
batteries ran low it would seek black wall outlets and 
plug itself in. 
&quto;Beast
&quote 
The Johns 
Hopkins 
University 
1961 Capable of anything from house work to handling radioactive materials or fighting fires. MM47 Claus Scholz 
 
22 
 
1962 Robot capable of painting art. Robot arm Raymond Auger 
1962 A walking robot designed for the Surveyor Project to explore the Moon. Lunar walker Aerojet General 
1963 
The Rancho Arm is created and is the first computer 
controlled artificial robotic arm, it was designed as a 
tool for the handicapped. It was developed at Rancho 
Los Amigos Hospital in Downey, California. 
Rancho Arm  
1965 An air-powered robot arm called Orm. Orm is the Norwegian word for snake. Orm 
Victor 
Scheinman 
and Larry 
Leifer 
1968 The tentacle arm was capable of lifting a person. Tentacle Arm Marvin Minsky 
1968 The first computer controlled walking machine created by at the University of South Carolina. Phoney Mcgee and Frank 
1968 
General Electric four legged walking truck. The first 
manual controlled walking truck. It could walk up to 
four miles an hour. Designed for the U.S. ARMY. 
Walking 
truck R. Mosher 
1969 First successful electrically-powered, computer-controlled robot arm. Stanford Arm Victor Scheinman 
1969 First biped robot. Computers were used to stimulate artificial muscles connected to the frame. WAP-1 Ichiro Kato 
1970 First mobile robot controlled by artificial intelligence. Shakey SRI International 
1971 (Mobile Environmental Response Vehicle) built by Peter Vogel to demonstrate his theory on artificial MERV Peter Vogel 
 
23 
 
intelligence. 
1972 
Could walk on flat surface as well as descend and 
ascend a staircase or slope. It could also turn while 
walking. 
WAP-3 Ichiro Kato 
1973 
 
V.S. Gurfinkel, A. Shneider, E.V. Gurfinkel and 
colleagues at the department of motion control at the 
Russian Academy of Science create a six-legged 
walking vehicle. 
Hexapod 
V.S. 
Gurfinkel, 
A. Shneider, 
E.V. 
Gurfinkel 
1973 
First full-scale anthropomorphic robot in the world. It 
had a system for controlling limbs, vision, and 
conversation! It was estimated that it had the mental 
ability of a 18 month old child. 
WABOT I Ichiro Kato 
1974 It assembled small-parts using feedback from touch and pressure sensors. The Silver Arm David Silver 
1976 
Shigeo Hirose from the Tokyo Institute of 
Technology creates the Soft Gripper. It conformed to 
the shape of the grasped object. 
Soft Gripper Shigeo Hirose 
1978 It had snake-like abilities. The Oblix eventually became the MOGURA robot arm used in industry. ACMVI (Oblix) Shigeo Hirose 
1980 A six-legged robotic insect. Robot III 
Robert Quinn 
and Roy 
Ritzmann 
1980 It used a micro-computer as the controller. It could take one step every 10 seconds. WL-9DR Ichiro Kato 
 
24 
 
1982 
It was indented to be a home companion. It had an 
alarm clock, and it could sing several songs. 
Additional programs were stored on 250 cartridges. 
Hero Jr Heathkit Corporation 
1983 
Had more degrees of freedom then its predecessor. It 
could walk laterally, turning and walking forward as 
well as backward. It could take a step every 4.4 
seconds. 
the WL-10R Ichiro Kata 
1983 Odetics Inc. unveils a six-legged walking robot called Odex 1. Odex 1 Odetics Inc. 
1984 Reads music and plays an electronic organ. WABOT II Ichiro Kato 
1985 It was controlled by a hand-held remote control or through programs stored on magnetic tape. Omnibot 2000 Tomy Kyogo Company Inc. 
1985 
Was a programmable robot. It had infrared sensors, 
remote audio/video transmission, bump sensors, and 
a voice synthesizer. It had software that could enable 
it to learn about its environment. 
RB5X 
General 
Robotics 
Corp. 
1985 
Waseda Hitachi Leg-11 (WHL-11) is a biped robot 
capable of static walking on a flat surface. It was able 
to turn and could take a step every 13 seconds. 
WHL-11 Hitachi Ltd. 
1986 
EO Honda?s first walking robot, Walking by putting 
one leg before the other was successfully achieved. 
However, taking nearly five seconds between steps,it 
walked very slowly in a straight line. 
EO Honda 
1988 The first HelpMate robot goes to work at Danbury Hospital in Connecticut, delivering medicines. HelpMate HelpMate Robotics 
1988 A two legged human sized pneumatic powered Shadow David 
 
25 
 
walking robot. Biped 
Walker 
Buckley 
1989 An autonomous four-legged machine. It weighed 1.5kg and could carry a load of about 150g. Attila II Robotics Corp. 
1989 
First biped walking robot which was able to walk on 
a terrain stabilized by trunk motion. It could walk at 
a rate of 2.6 seconds, up and down stairs. This robot 
could take a single step every 0.64 seconds. 
WL12RIII Kato 
1990 First dynamic movement at 1.2 km/h mimicking human walk. E2 Honda 
1990 
Dr. William Bargar and Howard Pual of Integrated 
Surgical Systems Inc. and the University of 
California at Davis develop the Robodoc. It performs 
a hip-replacement operation on a dog (1992 on a 
human patient). 
Robodoc 
Dr. William 
Bargar and 
Howard Pual 
1992 First autonomous locomotion model E5 Honda 
1993 
Robot autonomous control of balancing when going 
up and down stairs of slops or stepping over 
obstacles. 
E6 Honda 
1994 
Dante explores Mt. Erebrus, Antarctica. The 8-
legged walking robot was developed at Carnegie-
Mellon University. However, the mission fails when 
its tether breaks. Dante II explores Mt. Spurr, Alaska. 
This is a more robust version of Dante. 
Dante II 
Carnegie-
Mellon 
University 
1994 First humanoid robot with arms and torso, capable of turning on and off switches and grabbing door knobs. P1 Honda 
 
26 
 
1996 Created at MIT, the robot is used to study how fish swim. RoboTuna David Barrett 
1997 
NASA's PathFinder lands on Mars. It is a robotic 
rover that sends images and data about Mars back to 
Earth, while it roams the planet. 
PathFinder NASA 
1998 
This robot is a pet toy which communicates with its 
owner. It uses a variety of sensors to react to its 
environment. 
FURBY Tiger electronics 
1998 
Robotic creature that socially interacts with people. It 
uses cues from the person it interacts with as a basis 
for its interaction. 
Kismet Dr. Cynthia 
1998 Campbell Aird, is fitted with the first bionic arm called the Edinburg Modular Arm System (EMAS). EMAS 
Prosthetics 
Research and 
Development 
Team at 
Princess 
Margaret 
Rose 
Orthopedic 
Hospital in 
Edinburgh. 
1999 Electronic dog. Aibo Sony 
1999 
Personal Robots releases the Cye robot. It performed 
a variety of household chores, such as deliver mail, 
carry dishes, and vacuum 
Cye Probotics Inc. 
 
27 
 
2000 
Sony unveils humanoid robots, the Sony Dream 
Robots (SDR) at Robodex. SDR is able to recognize 
10 different faces, expresses emotion through speech 
and body language, and can walk on flat as well as 
irregular surfaces. 
QRIO Sony 
2001 
MD Robotics of Canada builds the Space Station 
Remote Manipulator System (SSRMS). It was 
successfully launched and has begun operations to 
complete the assembly of the International Space 
Station. 
SSRMS MD Robotics of Canada 
2001 
Omron releases their cat, NeCoRo, as a competitor to 
Sony's Aibo. It comes with Mind and Consciousness 
(MaC) technology, which enables the cat to generate 
feelings. 
NeCoRo Omron 
2002 
Honda creates the Advanced Step in Innovative 
Mobility (ASIMO). It is intended to be a personal 
assistant. It recognizes its owner's face, voice, and 
name. Can read email and is capable of streaming 
video from its camera to a PC. 
ASIMO Honda 
2002 
Vertical Unmanned Aerial Vehicle (VUAV) is a 
short-range, shipboard deployable unmanned aircraft. 
The VUAV will allow the Coast Guard to extend the 
surveillance, classification and identification 
capability of its major cutters through its speed, 
range, and endurance and at a lower cost. This asset 
will be used to support maritime homeland security, 
search and rescue missions, enforcement of laws and 
treaties including illegal drug interdiction, marine 
environmental protection, and military preparedness. 
Eagle Eye Bell  Helicopter 
2003 
An unmanned autonomous helicopter developed for 
use by the United States armed forces. Provides 
reconnaissance, situational awareness, and precision 
targeting support. 
MQ-8 
Fire Scout 
Northrop 
Grumman 
2005 
The Korean Institute of Science and Technology 
(KIST), creates HUBO, and claims it is the smartest 
robot in the world. This robot is linked to a computer 
via a high-speed wireless connection; the computer 
does all of the thinking for the robot. 
HUBO 
Korean 
Institute of 
Science and 
Technology 
2005 
Unmanned aerial vehicle (UAV) which the United 
States Air Force describes as a MALE (medium-
altitude, long-endurance) UAV system. It can serve 
in a reconnaissance role and fire two AGM-114 
Hellfire missiles. 
MQ-1 
Predator 
General 
Atomics 
2005 Quadruped robot to serve as a pack mule to Big Dog Boston 
 
28 
 
accompany soldiers, known as "the world's most 
ambitious legged robot" is designed to carry 120 
pounds (about 54.43 kg) alongside a soldier at three 
miles per hour (about 1.341 m/s), traversing rough 
terrain at inclines up to 45 degrees. 
Dynamics 
2006 Unmanned aerial vehicle (UAV) used by the United States Air Force as surveillance aircraft. RQ-4 Global Hawk Northrop Grumman 
2011 
The XM156 Class I Unmanned Aerial Vehicle 
(UAV) is a platoon level asset that provides the 
dismounted soldier with Reconnaissance, 
Surveillance, and Target Acquisition (RSTA) and 
laser designation. 
XM-156 
Future 
Combat 
Systems 
2011 
The XM1216 Small Unmanned Ground Vehicle 
(SUGV) is a lightweight, manportable Unmanned 
Ground Vehicle (UGV) capable of conducting 
military operations in urban terrain, tunnels, sewers, 
and caves. The SUGV aids in the performance of 
manpower-intensive or high-risk functions (i.e. urban 
Intelligence, Surveillance, and Reconnaissance (ISR) 
missions, chemical/Toxic Industrial Chemicals 
(TIC), Toxic Industrial Materials (TIM), 
reconnaissance, etc.). 
XM-1216 
Future 
Combat 
Systems 
2011 
The Multifunctional Utility/Logistics and Equipment 
(MULE) Vehicle is a 2.5-ton Unmanned Ground 
Vehicle (UGV) that will support dismounted and air 
assault operations. The MULE is sling-loadable 
under military rotorcraft and features three variants 
sharing a common chassis: transport, countermine 
and the Armed Robotic Vehicle (ARV)-Assault-
Light (ARV-A-L). 
XM-1217 
MULE 
Future 
Combat 
Systems 
 
 
29 
 
  
Figure 7 visual timeline page 1 
 
30 
 
  
Figure 8 visual timeline page 2 
 
31 
 
  
Figure 9 visual timeline page 3 
 
32 
 
 
Figure 10 visual timeline page 4 
 
33 
 
 
Figure 11 visual timeline page 5 
 
34 
 
  
Figure 12 visual timeline page 6 
 
35 
 
  
Figure 13 visual timeline page 7 
 
36 
 
 
Figure 14 visual timeline page 8 
 
37 
 
  
Figure 15 visual timeline page 9 
 
38 
 
 Timeline sources: (Buckley, 2009), (Currie), (Ranch), (Robotics Research 
Group), (UCLA), (Future Combat Systems), (Wikipedia, the free encyclopedia), (Boston 
Dynamics) 
 The timeline provides an overview of the progression of technology and design 
over time; it also helps to visualize the different trends of robots over the course of 
history. The years listed for all of the military robots are the dates at which they entered 
into service, the actual date of completion could not be obtained. 
 
39 
 
Chapter 3.0 Human Robot Interaction (HRI) 
 
3.1 Definition 
 Human robot Interaction is a field of research that focuses on the interactions 
between humans (the users) and robots. This field of study is an ?interdisciplinary 
process involving psychology, cognitive science, and engineering? (Kooijmans, Kanda, 
Bartneck, Ishiguro, & Hagita, 2007).  
?Engineers study the HRI to develop and improve robots, while psychologists aim 
for a better understanding of human attitudes, roles, and expectations toward 
robots. The process is inherently entangled, since on the one hand, engineers 
require behavior frameworks developed by psychologist to help them analyze the 
HRI. Psychologists, on the other hand, need to be aware of the technical 
limitations and possibilities when developing robot behavior and creating 
observation frameworks.? (Kooijmans, Kanda, Bartneck, Ishiguro, & Hagita, 
2007) 
 
40 
 
Research in this area focuses on natural human channels of communication, such as 
language and gestures, in order to generate a natural and more efficient way for the users 
to interact with robots. 
3.2 Origins 
 Human Robot Interaction is a specialized area of study that emerged from Human 
Computer Interaction, which is a branch of Human Machine Interaction. Human Robot 
Interaction has been a topic of both science fiction and academic theory. Because HRI 
depends on knowledge of human communication, many aspects of HRI are continuations 
of human communications studies.  
3.3 Goals 
 The methods by which humans interact with robots have become increasingly 
complex as new technologies emerge. Therefore, intelligent and sophisticated robots are 
often only technically successful, and the users find them confusing to use. Such robots 
are not used efficiently. This is where Human Robot Interaction studies come into play. 
One of the main goals of HRI is to develop interfaces generic enough to accommodate 
different types of environments. The interfaces are easy to learn and use, thus permitting 
the user to focus on the task at hand, rather than the tools of the interface. This will 
increase performance and productivity. Other goals include accelerating robot 
development and making robots the most accessible tools in homes and work places.  
 
 
41 
 
3.4 The Seven Principles of Human Robot Interaction 
The principles of human robot interaction were developed by Michael 
Goodrich and Dan Olsen from the Computer Science Department at Brigham 
University in Provo Utah. In their article titled ?Seven Principles of Efficient 
Human Robot Interaction? they claim the principles where uncover during their 
experiments and partly through experience in trying to design efficient interfaces. 
Principle 1:  Implicitly switch interfaces and autonomy modes 
 ?It is often desirable to change the way in which an operator controls a 
robot and receives information from the robot. Such changes are sometimes 
mandated by the environment and sometimes made at the discretion of the human; 
which autonomy mode and interface elements are selected depends on the context 
established by the environment, communication channel, or the operator? 
(Goodrich & Olsen, 2003). 
 
Principle 2:  Let the robot use natural human cues 
 ?People have extensive experience in accomplishing tasks and in 
interacting with other people. With this experience comes a set of natural 
expressions. Most often, scientists emphasize the naturalness of speech in 
supporting natural interactions, but natural language is an elusive goal and many 
other forms of natural expression are useful? (Goodrich & Olsen, 2003). 
 
42 
 
Principle 3:  Manipulate the world instead of the robot 
 ?The purpose of interacting with a remote robot is to accomplish some 
task in the world. Insofar as possible therefore, robot AI and interfaces should be 
designed so as to allow the task to be done, rather than drawing attention to the 
robot and the interface per se? (Goodrich & Olsen, 2003). 
 
Principle 4:  Manipulate the relationship between the robot and the world 
 ?It is sometimes difficult to develop interfaces and autonomy that directly 
supports world manipulation. Under these circumstances, human attention may 
need to be drawn to the robot. When attention needs to be drawn to the robot, it is 
most helpful if this attention remains focused on elements of the world and the 
task. More precisely, information regarding the status of robot in relation to a 
goal state or information that relates robot pose to world coordinates is useful? 
(Goodrich & Olsen, 2003). 
 
Principle 5:  Let people manipulate presented information 
 ?One primary purpose of an interface is to present information, primarily 
about the world, the relationship between the world and the robot, and about the 
robot In general, if information is presented to a user, the user should be able to 
 
43 
 
manipulate this information directly and thereby guide the robot or make 
progress on a task.? (Goodrich & Olsen, 2003). 
 
Principle 6:  Externalize memory 
 ?One of the difficulties with teleoperating a robot via a camera 
perspective is that the user cannot see where the "robot's shoulder are." A 
common occurrence in human machine interaction is when the user projects 
herself or himself into the machine so that the machine is an extension of the user. 
This greatly simplifies the task of keeping the correct mental models resident in 
working memory, but is limited if the sense of proprioception is missing. Without 
this sense, the user must either (a) maintain all relevant information in short-term 
memory and then integrate this information into a mental representation, or (b) 
consult other sensors and integrate all sensors into a consistent whole. Both are 
hard to do and both place burdens on short-term memory. This can make the task 
of guiding a robot all-encompassing? (Goodrich & Olsen, 2003). 
 
Principle 7: Help people manage attention 
 ?Attention appears to be a major bottleneck in cognitive information 
processing. Even if sufficient information is presented to a user, if their attention 
 
44 
 
is not on this information than incorrect decisions can be made. Thus, it is 
important for a user to properly manage attention? (Goodrich & Olsen, 2003). 
3.5 Examples of Human Robot Interaction studies 
 Although there have been great advances in the field of robotics, vast amounts of 
work remains before robots can be integrated into the daily life of society. A few of the 
dominant challenges faced by Human Robot Interaction specialist today include;  
 Formulating a framework for researchers that differentiate among the different 
categories of robots. 
 Developing a system for analyzing sensor data from HRI studies. 
 Robots being accepted as peers rather than objects. 
 Building user trust.  
The following studies address these issues and formulate interesting solutions. 
The first article was written by Sebastian Thrun from the computer science 
department at Stanford University. Thrun suggests devising a ?framework for researchers 
in HRI that differentiates between three main categories of robots which include 
industrial robots, professional service robots, and personal service robots? (Thrun, 2004). 
He expresses that the importance of this framework is due to the robots different 
capabilities, different user groups, and different contexts of use. ?This framework will 
help the HCI community identify opportunities for research in Human Robot Interaction? 
(Kiesler & Hinds, 2004). 
 
45 
 
In the second article, Accelerating Robot Development Through Integral Analysis 
of Human-Robot Interaction, the authors first point out that humanoid robots possess 
great deal of sensors and actuators that are controlled by their artificial brain.  
 
?One major engineering challenge is to process such acquired sensor 
information so that the robot can perform appropriate behaviors in certain 
situations. By studying sensor data triggered by a user?s action or environmental 
condition, engineers can design a robot to anticipate this information and 
produce an appropriate reaction? (Kooijmans, Kanda, Bartneck, Ishiguro, & 
Hagita, 2007). 
 
The authors recognized the need for a tool to analyze data received by robots 
during HRI studies. They developed a software which they dubbed Interaction Debugger 
that features ?user friendly navigation, browsing, searching, viewing, and annotation of 
data; it enables fine-grained inspection of the HRI? (Kooijmans, Kanda, Bartneck, 
Ishiguro, & Hagita, 2007). The software categorizes the data into modalities such as 
sound, vision, object positioning, person identification, and body contact with audio and 
video, which in turn lends its self to more efficient data analyses by researchers.   
 
 
46 
 
?Using this integrated approach one could, for instance, analyze which 
sensor values of a robot are triggered by certain human behavior, or if the 
internal states of a robot are activated in appropriate situations. From a 
psychological perspective, one could seek correlations between the distance from 
and behavior toward a robot or investigate such human attitudes as responses to 
body contact? (Kooijmans, Kanda, Bartneck, Ishiguro, & Hagita, 2007). 
 
This software is a major accomplishment in the analysis of interaction data; it 
allows collaboration between robot developers and psychologist while conducting HRI 
research. This improves the effectiveness and efficiency at which we process data. 
  Challenges we face in the development of social robots is for the robot to be 
accepted as a peer and for robots 
to have the ability to detect 
humans rather than considering 
humans as obstacles. When 
analyzing this challenge one must 
consider the demographics of the 
user as well as the environment 
that the robot is in.  
  
Figure 16: QRIO in a noisy environment 
 
47 
 
Some researchers suggest that children possess the ability to break such barriers in 
the development of humanoid robots. In citing studies that reflect this notion, the first 
conducted in the US was led by Javier Movellan from the University of California in San 
Diego. His team introduced four robots into a classroom of toddlers with their ages 
ranging from 18 months to two years old. The robots included in the study consisted of 
the SONY QRIO and ART?s Robovie. The purpose of the study was to investigate the 
potential use of robots in early childhood education. The robots were programmed to 
interact with the children by giggling when they were touched and to lay down when 
their batteries ran low. The children interacted with the robots by touching them carefully 
on the face and arms, hugging them, helping them up when they fell, and covering them 
with a blanket when the robots laid down and also saying ?Night Night?. The team 
reported that some of the children even cried when the robot keeled over. In an interview 
conducted by Laura Parker from The Guardian news paper in London; Movelan says, 
 ?One thing that became apparent to us was the importance of timing. When you 
get the timing right, magic happens. When you get it wrong, it disappears. Simply 
moving the robot's head too slow or too fast can make a difference on the 
appearance or disappearance of social behaviors towards the robot. We are 
working on robots that can automatically detect the different moods the 
classroom goes through and adjust their behavior accordingly" (Parker, 2008). 
 
48 
 
The conclusion of the study reviled that the children treated the robots as social peers, as 
opposed to a mere object. 
 In similar study named ?Interactive robots as social partners and peer tutors for 
children?, a team of specialist in Japan introduced two English speaking ?Robovie? 
robots to an sixth grade elementary class with the purpose of teaching the children 
English. The robots used a vocabulary of about 300 sentences for speaking and 50 words 
for recognition. During an 18 
day study the authors had to 
cope with the noisy 
environment of rambunctious 
children while studying the 
interactions and the effects of 
the interactions. At the start of 
the trial the children were given 
an English picture-word 
matching test and then given another after two weeks. In the post test results, the children 
showed improvement in their English skills; however the team had some other suggestion 
for future studies.  
?Further analyses indicate that the robots may have been more successful in 
establishing common ground and influence when the children already had some 
initial proficiency or interest in English. These results suggest that interactive 
Figure 17: ROBOVIE interacting with children 
 
49 
 
robots should be designed to have something in common with their users, 
providing a social as well as technical challenge? (Kanda, Hirano, Eaton, & 
Ishiguro, 2004). 
Although the study was conducted over a short time period, the results demonstrated that 
children can overcome the operational properties of a robot, accepting them as peers and 
actually learning from their humanoid buddies.  
 The last article in this section is about building user trust. The authors hypothesize 
that relationships and trust between humans and computers can be initialized with 
conversational strategies.  
?Humans use a variety of strategies to proactively establish and maintain 
social relationships with each other. Using small talk, intimacy through self 
disclosure, credibility through the use of expert?s jargon, social networks through 
gossip, and "face" through politeness are all examples of this phenomenon. These 
relational strategies are important not just in purely social settings, but are also 
crucial to the establishment and maintenance of any collaborative relationship? 
(Bickmore & Cassel, 2001). 
Conversational strategies, such as those cited above, enable social relationships with the 
user in order to gain trust and ease cooperation during interaction. One example of an 
existing conversational agent is ?Microsoft Bob the paper clip?; he achieves this affect by 
relating to users through social interaction. In another study listed in their article, Reeves 
and Nass conclude that computers who flatter the user or use humor were proved more 
 
50 
 
likeable. Although the results of the study were minimal, they provide an interesting 
point of view on robots possessing personalities and engaging in social conversations 
with the user.  
3.6 Conclusion of Human Robot Interaction 
 After reviewing the principles and research of human robot interaction, the 
TourBot needs to possess the ability to switch its control from autonomous to non-
autonomous mode in certain situations may it be for safety or to suit the controllers 
needs. It is also important for the robot communicate with the user through natural human 
forms of communication such as language and gestures. Another important aspect is to let 
the user manipulate the information presented, this can be accomplished with the use of a 
touch screen LCD or voice commands that let the robot know what the user wants. Also 
the robot needs to attract attention to itself, this is an important asset because depending 
on how well the robot can maintain the users attention determines the how effective the 
TourBot serves as a tour guide.  
 
 
51 
 
Chapter 4.0 Universal Design 
 The principles of universal design are one of the most important aspects of this 
study. Applying these principles to the design of human interaction robots it will insure 
the design is usable by more than the majority of population. This is important because a 
tour guide robot has the opportunity to interact with humans with a wide range of 
abilities. 
4.1 Definitions 
Aside from understanding the meaning of design itself, there are three terms one 
must also review before understanding the definition of Universal Design. When used as 
a verb the word design refers to the thought process comprising the creation of an entity. 
(Erlandson, 2008, p. 15) This definition provides the true elements of design in its 
broadest sense. Design starts with identifying a problem, in which the designer 
conceptualizes the problem, by using a systematic approach or a thought process to solve. 
?The designer must have insight, an idea, or a thought as to the connections between a 
design concept and the needs or problems addressed by the proposed entity? (Erlandson, 
2008, p. 15). Entity refers to the tangible end to the design process, which could be a 
product or a service. 
 
52 
 
There are three sub categories or specialized areas within design. Each term 
below addresses a specific area of design that derives from the needs or specifications of 
the entity. 
 Accessible Design  
 Adaptable Design 
 Universal Design 
4.2 Accessible Design 
?Accessible Design is the design of entities that satisfy specific legal mandates, 
guidelines, or code requirements with the intent of providing accessibility to the 
entities for the individuals with disabilities? (Erlandson, 2008, p. 18). 
With the above definition one can conclude that accessible design focuses on legal 
implications set forth by laws such as the Americans With Disabilities Act (ADA), the 
Telecommunications Act 1996 section 255, and section 508 amendments to the 
Workforce Investment Act of 1998. Accessibility guidelines published by the United 
States Access Board provide specific design guidelines that relate to each of these laws.  
4.2.1 Americans With Disabilities Act (ADA) 
 The Americans With Disabilities Act of 1990 states that ?The ADA prohibits 
discrimination on the basis of disability in employment, State and local government, 
public accommodations, commercial facilities, transportation, and telecommunications. 
It also applies to the United States Congress? (Division, 2005). The act resulted in a set 
 
53 
 
of guidelines for accessibility to public places and commercial facilities for individuals 
with disabilities. ?These guidelines are to be applied during the design, construction, and 
alteration of such buildings and facilities to the extent required by regulations issued by 
Federal agencies, including the Department of Justice, under the Americans with 
Disabilities Act of 1990? (Department of Justice , 1994). 
4.2.2 The Telecommunications Act (Section 255) 
?The Telecommunications Act of 1996, a comprehensive law overhauling 
regulation of the telecommunications industry, recognizes the importance of access to 
telecommunications for people with disabilities in the Information Age. Section 255 of the 
Act requires telecommunications products and services to be accessible to people with 
disabilities. This is required to the extent access is "readily achievable," meaning easily 
accomplishable, without much difficulty or expense. If manufacturers cannot make their 
products accessible then they must design products to be compatible with adaptive 
equipment used by people with disabilities, where readily achievable? (United States 
Access Board, 1996).   
The act also states that all manufacturers of telecommunication products must insure their 
products are "designed, developed, and fabricated to be accessible to and usable by 
individuals with disabilities" (United States Access Board, 1996). 
Technologies covered under this bill include: 
 
54 
 
 Wired and wireless telecommunication devices, such as telephones (including pay 
phones and cellular phones), pagers, and fax machines 
 Other products that have a telecommunication service capability, such as 
computers with modems  
 Equipment that carriers use to provide services, such as a phone company?s 
switching equipment. 
4.2.3 Workforce Investment Act (Section 508) 
 Section 508 of the Workforce Investment Act (1998) is a set of requirements for 
federal departments and agencies regarding electronic and information technology. This 
section states ?individuals with disabilities who are Federal employees to have access to 
and use of information and data that is comparable to the access to and use of the 
information and data by Federal employees who are not individuals with disabilities; and 
individuals with disabilities who are members of the public seeking information or 
services from a Federal department or agency to have access to and use of information 
and data that is comparable to the access to and use of the information and data by such 
members of the public who are not individuals with disabilities? (United States 
Department of Justice Civil Rights Division, 2008). 
4.3 Adaptable Design 
 All products and services that are deemed accessible may not be for everyone. 
However, they can be made accessible with the use of modifications for individuals with 
 
55 
 
specific disabilities. These modifications also known as accommodations illustrate the 
processes of adaptable design. 
?Adaptable design features are modifications made to standard design for the 
purpose of making the design usable for an individual as needed? (Erlandson, 
2008, p. 18). 
The principles of adaptable design focus on the development of modification 
devices that are to be used with an existing entity, for the purpose of being usable by 
persons with disabilities. The main difference between adaptable design and accessible 
design is that adaptable design is not regulated by law. 
4.4 Universal Design 
?Universal Design can be defined as the design of entities that can be used and 
experienced by people of all abilities, to the greatest extent possible, without 
adaptations? (Erlandson, 2008). 
The definition above illustrates that products encompassed by universal design 
standards, are to be usable by all people with or without disabilities. This is one of the 
main elements that set universal design apart from accessible and adaptable design. 
Universal design principles are geared toward everyone not just people with disabilities. 
Erlandson states that the usability of the product can be defined by five key elements. 
 The use of the product should be easy to learn. 
 Once learned the product can be used efficiently. 
 
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 The use of the product should be easy to remember. 
 The product should have a low error rate. 
 The product should have an enjoyable and rewarding user experience. 
The overall usability of a product is determined by how physically and mentally 
accessible the product is by all users. Universal design principles differ from accessible 
and adaptable design because they are not mandated by law, and do not use modification 
devices. With the diversity of the human race, the probability that a single entity would 
be usable by all people under all conditions is very low. Every person is unique in age, 
size, abilities, and talents. For this reason universal design should be considered a 
process, rather than an achievement. 
 
 
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The diagram above shows the relationships among three different types of design 
and how they each subside with one another within the realm of general design. The size 
or circumference of each circle represents the range of usability its products achieve, 
specifically the products derived from that particular design strategy. The overlapping 
areas between the circles represent the principles shared by universal design, accessible 
design, and adaptable design. (Erlandson, 2008, p. 19)   
 
 
 
Figure 18 Design relationship diagram 
 
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4.5 Principles of Universal Design 
 
Universal design strives to be a broad-spectrum solution that helps everyone. The 
principles of Universal design bring existing practices from all aspects of the design 
community together in a unique way. There are seven principles listed by The Center For 
Universal Design: 
  
 
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Principle One: Equitable Use 
The design is useful and marketable to people with diverse abilities. 
 
 
 
 
 
 
 Provide the same means of use for all users: identical whenever possible;  
equivalent when not. 
 Avoid segregating or stigmatizing any users.  
 Provisions for privacy, security, and safety should be equally available to 
all users.  
 Make the design appealing to all users.  
Figure 19 Elevator adjacent to escalators 
in shopping mall avoids segregating 
groups using different means of mobility 
(Mall Pictures) 
 
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Principle Two: Flexibility in Use 
The design accommodates a wide range of individual preferences and abilities.  
 
 Provide choice in methods of use. 
 Accommodate right- or left-handed access and use.  
 Facilitate the user's accuracy and precision.  
 Provide adaptability to the user's pace.  
 
 
 
Figure 20 Large grip scissors 
accommodate use with either hand 
(NC State University, 1997) 
 
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Principle Three: Simple and Intuitive 
Use of the design is easy to understand, regardless of the user's experience, 
knowledge, language skills, or current concentration level. 
 
 
 Eliminate unnecessary complexity. 
 Be consistent with user expectations and intuition.  
 Accommodate a wide range of literacy and language skills.  
 Arrange information consistent with its importance.  
 Provide effective prompting and feedback during and after task 
completion. 
 
Figure 21 Kia's power seat control switch 
mimics the shape of the seat, enabling 
users to make adjustments intuitively. 
(James, 2006) 
 
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Principle Four: Perceptible Information 
The design communicates necessary information effectively to the user, 
regardless of ambient conditions or the user's sensory abilities. 
 Use different modes (pictorial, verbal, tactile) for redundant 
presentation of essential information. 
 Provide adequate contrast between essential information and its 
surroundings. 
 Maximize "legibility" of essential information. 
 Differentiate elements in ways that can be described (i.e., make it easy 
to give instructions or directions). 
 Provide compatibility with a variety of techniques or devices used by 
people with sensory limitations. 
Figure 22 Dark background, 
contrast in color, and brightness 
on overhead sign contrasts with 
lighted ceiling. (designworkplan 
design blog, 2008) 
 
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Principle Five: Tolerance for Error  
The design minimizes hazards and the adverse consequences of accidental or 
unintended actions. 
 
 Arrange elements to minimize hazards and errors: most used elements, 
most accessible; hazardous elements eliminated, isolated, or shielded. 
 Provide warnings of hazards and errors. 
 Provide fail safe features. 
 Discourage unconscious action in tasks that require vigilance.  
 
 
Figure 23 The chain-break on a chainsaw locks the chain in the event in the event 
of a kickback, protecting the user from the chain. (Husqvarna, 2009) 
 
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Principle Six: Low Physical Effort 
The design can be used efficiently and comfortably and with a minimum of 
fatigue. 
 
 
 Allow user to maintain a neutral body position. 
 Use reasonable operating forces. 
 Minimize repetitive actions. 
 Minimize sustained physical effort 
 
 
Figure 24 Split, angled keyboard allows user to maintain neutral position from 
elbow to fingers. (ergoware, 2008) 
 
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Principle Seven: Size and Space for Approach and Use 
Appropriate size and space is provided for approach, reach, manipulation, and use 
regardless of user's body size, posture, or mobility. 
 
 Provide a clear line of sight to important elements for any seated or 
standing user.  
 Make reach to all components comfortable for any seated or standing 
user.  
 Accommodate variations in hand and grip size.  
 Provide adequate space for the use of assistive devices or personal 
assistance. (NC State University, 1997) 
 
Figure 25 Motorcycle/Trike 
for the Handicapped,  the  
door on the back of the 
motorcycle opens up wide 
enough to drive a wheelchair 
onto the lift for storage 
during transportation. 
(Crowe, 2008) 
 
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4.6 Categories of Universal Design  
The principles of universal design can be broken down into three categories. 
Some deal primarily with human factors, some focus on processes, and others go beyond 
human factors and processes.  
Human Factor principles 
The principles that focus on human factors deal with ergonomics, perception, and 
cognitive concerns. (Erlandson, 2008, p. 68) The principles that fall under this category 
are: 
 Simple and Intuitive use 
 Perceptible Information 
 Low Physical Effort 
 Size and Space for Approach and Use 
 
Human factors rely primarily on the user. The person must be able to use the 
product regardless of their level of experience. The operating instructions must be easy to 
understand and the user should be able to use the product with minimal effort. 
 
 
 
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Process Related Principles 
The principles relating to processes are: 
 Flexibility in Use 
 Tolerance for Error 
A process is a method or series of actions for the purpose of achieving a goal. Processes 
relating to products deal mainly with usability or more specifically how the person uses 
the product. Therefore the processes support the product through flexibility of use and 
error management. 
 Transcending Principles 
Transcending principles go beyond the principles of process and human factors.  This 
principle is: 
 Equitable Use 
Products deriving from the principles of universal design should provide the same means 
of use for all users: identical whenever possible, equivalent when not. (NC State 
University, 1997) For a product to be equitable it should feature certain qualities. It 
should be aesthetically pleasing, marketable, and affordable to a broad spectrum of users. 
?These design features and characteristics are generally true for any product or service, 
but is especially true for designers seeking to follow universal design principles? 
(Erlandson, 2008, p. 69). 
 
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4.7 Conclusion of Universal Design 
 The principles of universal design are going to be a substantial influence on the 
design of the TourBot. It is very important that the robot meets the standards of all seven 
principles to enable it to be used by users with a vast range of abilities.  
Equitable use: Provide the same means of use for all users: identical whenever 
possible; equivalent when not. The LCD screen is going to be located on of the arms so it 
has the ability to adjust the height of the screen to the user. In a situation when there is a 
group of people that has a wide range of heights the robot can either take an average of 
heights and adjust to it or adjust to the height of the shortest person and tilt the screen up 
to accommodate the taller individuals. 
Flexibility in use: The robot can present data to the user by text on the screen 
(hearing impaired) and by audio (visually impaired), and move at a slower pace of the 
mobility impaired users. 
Simple and Intuitive: The TourBot needs to be capable of utilizing natural forms 
of communication, in a variety of languages. The user can communicate with the robot 
verbally (simply by speaking to it), or nonverbally by reading text or by touching option 
buttons on the LCD. 
Perceptible Information: The environment in Broun Hall is rather dark with brick 
walls and floors. For this environment the LCD should have a dark background with 
 
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large light colored text for contrast, if a white background is used with dark text it most 
likely put strain the eyes of the users.  
Tolerance for Error: For collision avoidance the robot should be equipped with a 
360 degree sonar array coupled with the vision cameras. This will enable the robot to 
know its distance for objects anywhere around it during locomotion. Another failsafe that 
needs to be implemented into the design is a low battery protocol, once the robot detects 
its battery level diminish to 10 percent the it can either go back to the charging station 
and recharge, or if the robot decides it cannot make it back to the charging station it 
should find a place to lay down to prevent falling over on someone or something and 
signal the operator for assistance.  
Low Physical Effort: To prevent fatigue and sustained physical effort the robot 
needs to adjust the LCD to a comfortable viewing height for the users, and maintain a 
walking pace during locomotion. 
Size and Space for Approach and Use: This can also be accomplished with the 
variable height LCD to provide a clear line of sight, and make it comfortable to reach the 
touch screen for seated or standing users. The robot should also be small enough to fit 
through doorways and maneuver in crowded hallways, and be have an aesthetically 
friendly appearance. 
  
 
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Chapter 5.0 TourBot 
 
5.1 Background of the TourBot Project 
 The TourBot project was conceived by Dr. Thaddeus Roppel in the summer of 
2006 who stated ?I was thinking about possible senior design projects for the upcoming 
Fall semester, and then enlarged my scope to think about it as on ongoing extracurricular 
activity? (Ropple, 2009). The purpose of the project is to provide an exciting 
extracurricular activity that will include both undergraduate and graduate students from 
various backgrounds. A goal associated with becoming involved in the activity is to help 
the students improve their marketability for employment. The TourBot project provides 
an ongoing source of senior design project activities, and makes a very high-profile E-
Day display to generate publicity for the Electrical and Computer Engineering Dept., the 
College of Engineering, and Auburn University.  Participants include students at the 
freshman level and every other level up to that of a PhD, industry personnel and any 
other person who expresses an interest. Involved in the project is Dr. Roppel as the sole 
faculty member accompanied by four undergraduates, two graduate students, and a senior 
design group that consist of eight students. The students involved incorporate a wide 
range of backgrounds and fields of study which include computer, electrical, software, 
 
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and mechanical engineering, and industrial design. The project provides an outlet for the 
collaboration of people from various fields of study with their focus being a common 
goal. 
5.2 Design Brief 
The robot?s function will be to give tours of Broun Hall located on the campus of 
Auburn University. The TourBot will have the capability of knowing its location and will 
be able to display multimedia presentations at predetermined stops during the tour. It will 
also interact with the tour group using voice and gesture (hand and body movement.) The 
following list is a summary of the TourBot?s systems specifications provided by Auburn 
Universities TourBot program. 
COMMUNICATION 
 Data Presentation (Front End Software / User Interface / On Board Display)  
o Present multimedia  
o Meet power requirements  
o Reasonable size (weight, appearance from ?x? feet, mutability, 
dimensions)  
o Sunlight visibility  
o Viewing angle  
 
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o Temperature/humidity tolerance  
o Eye level presentation  
 Accessibility  
o Closed captioning  
o Own voice (English language)  
o Voice recognition  
o Color blind access  
o Generic button interface  
LOCOMOTION 
 Traverse building options  
o Fit in door frames  
o Roll over door frame  
o Variable surfaces  
o Fit in hallway  
 Speed  
o Fast enough for a human to slowly walk behind 
 
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o Slow enough for manual wheelchair to follow   
 Will not open doors by itself  
 Will not move obstacles  
 Ground clearance (1-5?)  
 Balance  
 Rigid Chassis (Smooth exterior / fully enclosed)  
 Turning Must be zero point, to guarantee not hitting people/things when turning  
NAVIGATION  
 Follow predetermined path  
 Avoid Obstacles  
 Record path traveled  
 Localization independent of surroundings (SLAM without GPS)  
 Needs remote GUI administrative interface  
 Needs on board user interface to allow tour participants to control pace and 
content of the tour  
 Administrative functionality (setup waypoints / define floor plans of buildings)  
 
 
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SAFETY 
 Avoid hitting people  
o Kids in tour  
 Power outages  
 Robot can function if confused about positioning (sanity check algorithm)  
 Emergency Stop button  
 Keep fire exits clear  
 No sharp/ electrified components on exterior  
 Periodic testing  
 Emergency ?911? call button  
 Intrusion Detection  
SOFTWARE 
 Front End Software  
o Interface info needs to be readable (visibility)  
o Interpret response, prompt user, text /picture/ video display, sound  
o Display virtual map  
 
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 Back End Software  
o Control motors  
o Communication to front end software  
o Control Sensors  
Things to keep in mind: Size and power constraints, serviceability / modular 
design, expansion capabilities  
5.3 Design Goals 
The design goals for the TourBot project are a direct result of research that was 
conducted in chapters three and four of this study. In order for the robot to be an effective 
tour guide for all users, it must meet the following criteria. 
 Possesses the ability for users to interact with the robot, regardless of their 
experience or ability. 
 Intelligently communicate with users through natural and digital channels of 
communication.  
 Communicate necessary information effectively to users, regardless of ambient 
conditions or the users? sensory abilities. 
 The ability to adjust to the needs of the users. 
 Approachable and aesthetically pleasing. 
 
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It is important for the interface to facilitate easy interaction between the user and the 
robot, regardless of the user?s experience or ability. The goal is for visitors to be able to 
utilize the robot without help or instruction. This can be achieved with multiple channels 
of communication and social dialog software. In order to isolate what channels are 
needed, one must review the abilities of the users. For this design, the robot needs to be 
as diverse as possible because it has the opportunity to interact with people with various 
abilities. The TourBot design will focus on three areas of user disability which are 
visually impaired, hearing impaired, and mobility impaired.  While examining the users? 
disabilities the focus needs to be on their abilities. For visually impaired users the robot 
needs to be capable of communicating with them verbally.  This can be achieved with 
audio speakers, a microphone, and voice recognition software. When interacting with 
hearing impaired users, communication will be more visual based. Visual communication 
can be accomplished in a number of ways one being that the user could read text on an 
LCD screen, and another being that the user could interpret the operating state or mood of 
the robot through facial expressions, color, and body gestures. To accommodate mobility 
impaired users the robot needs to be able to adjust the height of the LCD screen during 
interaction. Another variable that needs to be accounted for is the speed of the robot. It 
should be capable of moving at variable speeds. In communication and interacting with 
users, it is important for the robot to possess a friendly appearance. There are a number of 
aesthetic factors that contribute to a robot?s appearance, such as size, shape, and color.  If 
the robot appears to be aggressive it could intimidate users, and discourage them from 
interacting with it. According to the U.S. Department of Health and Human Services, the 
 
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average height of a male is five feet nine inches tall and a female is five feet three inches. 
The average height of a person sitting in a wheelchair is three feet ten inches tall. 
(McDowell, Fryar, Ogden, & Flegal, 2008) Therefore the robot needs to be able to adjust 
the viewing height (center of the LCD screen) from forty six to sixty six inches from 
ground level. By tilting the screen up or down the robot could also accommodate users 
that are either taller or shorter than the heights previously mentioned.  
5.4 Robot Tasks 
 Although this study will not address the actual construction of a fully functional 
robot, the following is a list of tasks that the robot must be capable of doing in order to be 
a successful tour guide. 
 Attract users to itself 
 Engage and maintain interest  
 Autonomously navigate the second, third, and fourth floors of Broun Hall 
 Utilize elevators 
 Perform obstacle detection (pedestrians, random objects, doorways) 
 Autonomously locate predetermined landmarks (doorways, artifacts) 
 Give data presentation at predetermined landmarks 
 Be self aware of battery level and autonomously dock with charger when needed 
 
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5.5 Product Comparison Research 
The following chart is used to analyze the features of similar robots for 
comparison. The chart also helps to identify strengths, weaknesses, trends, and areas of 
opportunity. 
 
  
 
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Figure 26 Product comparison chart 
 
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 After reviewing the product comparison chart the results are as follows 
 Visual data display ? 4 
 Adjustable height ? 0 
 Variable speed ? 5 
 Facial expressions - 3 
 Body gestures - 2 
 Audio / verbal communication - 5 
 Eye contact / facial recognition - 3 
 Approachable / aesthetically pleasing ? 2 
The higher numbers indicate trends and similarities, while the lower numbers indicate 
areas of opportunity. For the purposes of the design phase, the design should include the 
similarities and focus on the areas of opportunities. The areas of opportunities can be 
arranged by priority with the lowest number being the highest priority. The results 
indicate that adjustable height should be the highest priority, followed by body gestures, 
aesthetically pleasing, facial expressions, and eye contact. 
  
 
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5.6 Approach 
 The approach for designing a human interaction robot utilizes the research and the 
design brief completed prior to this section as a foundation. There are five steps in the 
approach that build upon one another and the result will be used as a guide during the 
design phase. 
1. Task chart  
 The task chart is a list of tasks in order that the robot will complete during 
its function. 
 The chart helps the designer to get an idea of what tasks the robot needs to 
perform during its function. 
2. Task map 
 The task map helps visualize the tasks in a sequence to make sure nothing 
was overlooked and sees the function as a whole. 
3. Interaction chart  
 The purpose of the interaction chart is to break down the tasks to identify 
what hardware and software is needed to complete each task, and to meet 
the needs of the users. 
4. Universal flowchart 
 The universal flowchart combines the information obtained from the three 
previous steps to visualize everything in the intended sequence and to 
 
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identify any additional tasks, hardware, and software that may be needed 
for the robot to complete its function. 
5. List of Hardware and Software 
 Using the flowchart a complete list of the components, plus the hardware 
and software needed to operate the components can be generated to use 
during the design phase.  
 This gives the designer a complete list of functions, hardware and software 
that can be used while generating concepts. This streamlines the design 
phase and makes the designer more efficient.   
The following figures illustrate the individual steps of the approach. Step one is 
the task chart (Figure 18), step two is the task flowchart (Figure 19), step three is the 
interaction chart (Figures 20-23), step four is the universal flowchart (Figures 26-30), and 
step five is the hardware/software chart (Figure 31). 
 
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Figure 27 Task chart 
 
84 
 
  
Figure 28 Task Flowchart 
 
85 
   
Figure 29 Interaction chart page 1 
 
86 
   
Figure 30 Interaction chart page 2 
 
87 
  
Figure 31 Interaction chart page 3 
 
88 
   
Figure 32 Interaction chart page 4 
 
89 
 
  
Figure 33 Universal flowchart full view 
 
90 
 
  
The information contained in the universal flowchart can be divided into three 
sections, task, universal design element, and interaction. The task and universal design 
element sections possess the information obtained from completing the three previous 
steps of the approach. The interaction section is what needs to be completed during this 
phase. 
  
Figure 34 the three sections of information in the universal flowchart 
 
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UNIVERSAL FLOWCHART 
LEGEND 
 
 
 
Visually Impaired  
 
 
 
 
Mobility Impaired 
 
 
 
 
Hearing Impaired 
 
HW = Hardware 
SW = Software  
Figure 35 Universal design 
element symbols 
 
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Figure 36 Universal flowchart section 1 
 
93 
 
Figure 37 Universal flowchart section 2 
 
94 
 
  
Figure 38 Universal flowchart section 3 
 
95 
 
 
  
Figure 39 Universal flowchart section 4 
 
96 
 
 
  
Figure 40 Universal flowchart section 5 
 
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Figure 41 Hardware and Software chart 
  
 
98 
 
5.7 Human Interface Devices 
The robot needs to be able to communicate with the user in order to be an effective 
tour guide.  The following is a list of devices in which the robot will use to interact and 
communicate with the users. 
 
 Touch screen monitor: 
 One of the benefits of a touch screen LCD as opposed to a non-touch 
screen is that it provides an extra channel of interaction between the robot and the 
user. Touch is also a gesture of user trust. The touch screen makes information 
more accessible to the user. Touching the desired icon on the screen is easier than 
lining up text with a button on the side of a screen. 
 
 Microphone: 
With the use of a microphone the robot will be able to hear the user give 
verbal commands, and use speech and language recognition. 
 
 
 
 
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 Speakers: 
Audio speakers allow the robot to communicate back to the user, through 
speech or tone of voice, especially when the user is visually impaired.  
 Facial expressions: (LED lights behind a translucent material on face) 
There are many facial expressions that humans use to communicate with 
each other. Facial expressions generally represent the mood or state of 
mind that a person is feeling. The robot can use expressions to 
communicate happiness, sadness, anger, confusion, and even 
embarrassment. The TourBot will accomplish this with the use of different 
color LED lights that will light up behind a translucent material on the 
face and display the appropriate expression.  
Figure 42 example of facial expressions with LED lights 
 
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 Eye contact: (cameras) 
It is important for the robot to maintain eye contact with the user. It is a 
gesture that allows the user know who the robot is communicating with 
and gives the robot a sense of self awareness and intelligence.  
 Body language: (limbs and posture) 
Body language is a non-verbal form of communication that is conveyed 
through the use of facial expressions and tone of voice. Body language can 
be used to communicate emotions and mental states. This is an important 
ability that will help the robot communicate more efficiently and seem 
more human like. 
  
 
101 
 
5.8 Concept Generation and Form Development 
 
 
102 
 
 The first step of the concept generation and form development phase is 
conceptualizing the functions of the robot in a sketch. This is a very useful and common 
method that industrial designers use to visualize their ideas and to brainstorm. Sketching 
can be used to determine the mechanical functions as well as aesthetics before the actual 
building of a CAD model. In most cases, the first round of sketches is purely mechanical 
with the goal of incorporating all the functions described in the previous sections into a 
single entity. For example the robot needed to have an adjustable height LCD screen, the 
ability to show facial expressions, and the capability of fitting through a door way. The 
first concept was a starting point but there were still some key elements that needed to be 
introduced.  
  
 
103 
 
  
Figure 43 first round of sketches  
 
104 
 
  
Figure 44 second round of sketches 
 
105 
 
 The functions of the first concept (figure 32) shows the LCD screen being 
attached to the torso which is mounted on top of an arm. The arm was intended to be 
capable of variable height via linear actuators. The concept could also perform facial 
expressions with a smaller LCD mounted on top of the torso to be used as the head. The 
base was designed around an existing design provided by the Auburn University TourBot 
team, it had two wheelchair motors and a caster that provided locomotion and 
maneuverability. After reviewing the first concept it was noted that there was some key 
elements that still needed to be introduced. The concept was lacking the ability to open 
doors, push buttons (in order to operate elevators,) and perform body gestures. To 
accomplish these tasks an arm was introduced into the design, and after further 
examination it was determined that the LCD screen would be added to an arm, as 
opposed to being attached to the torso, to further enhance the robot?s ability to perform 
gestures. It was also decided that rather than the robot having to adjust its overall height, 
it could adjust the height of the LCD and that would be sufficient. Another change that 
was made was the locomotion base. It was updated from a three wheel configuration to a 
two wheel that utilizes Segway technology. The sketch located in the top right section of 
figure 33 was selected for further development. 
  
 
106 
 
 
Figure 45 third round of sketches 
 
107 
 
 The concepts illustrated in figure 34 include all of the functions mentioned in the 
previous round plus a few additions. The robot needed cameras for navigation and facial 
recognition so the idea of an LCD for the face was revised. There were two cameras 
added to the head and the face would now be constructed of a translucent material with 
LED lights behind it that would light up forming the facial expression desired. There 
were also further aesthetic adjustments made to the design. The sketch located on the 
right section of figure 34 was selected for further development in CAD (computer- aided 
design). 
 
Figure 46 CAD screen shot 
 The software selected for the CAD phase was Rhinoceros 4.0 and SolidWorks 
2008. After the first CAD model was completed the concept was printed out in full scale 
 
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and mounted to foam core for review 
and user testing was conducted to test 
the adjustability of the LCD. 
 For the first phase of testing, a 
stand was constructed using PVC and 
wooden dowel rods. The purpose of 
the stand is to hold a foam core 
representation of the head and LCD 
screen to test the adjustability of height 
with different users. This test was 
made possible by inserting a wooden 
dowel rod (with holes drilled every 
inch) into the vertical piece of PVC. A nail was placed into the hole to hold the head or 
the LCD at the desired height so a measurement could be taken. After the stand was 
completed the model was ready for review by the members of the committee and willing 
volunteers. 
 
  
Figure 47 testing stand with LCD and head 
 
109 
 
 
After reviewing the model, the desired height 
of the LCD for a person standing is 50 inches, 
and for a person sitting in a wheelchair is 46 
inches from the ground. Another area of 
concern that surfaced during the review was 
the size of the screen. It was suggested that a 
smaller LCD would be just as effective. 
 
 
Figure 48 Tsai Lu Liu reviewing LCD height 
Figure 49 taking measurement of LCD height for 
person in wheelchair  
 
110 
 
After the first review, adjustments 
were made to the size of the LCD. A 
full scale representation was printed 
and mounted to foam core for another 
review. The subjects that were covered 
during the second review included 
proportions and aesthetics.  
 
  
Figure 50 full-scale foam core printout  
Figure 51 second review with committee 
 
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Figure 52 suggestions made by committee members during second review 
 
112 
 
Suggestions made during the second review (illustrated in figure 41) were taken into 
account and the changes were made to the CAD model. Below in figure 42 is the result of 
those changes. 
Figure 53 screen shot of CAD model after the committee?s suggestions were applied  
 
113 
 
 
Figure 54 CAD model with arms down, this was a test to make sure the robot would still fit threw 
doorways. 
 
114 
 
  
Figure 55 CAD model docked with charging base 
 
115 
 
An additional change was made to the LCD screen; it was switched to the left arm. This 
adjustment was made after research was conducted on handedness of the U.S. population. 
?90 percent of the population is right handed? (McCredie), and if the opportunity presents 
itself it would be a friendly gesture if the robot could shake hands with the user. With the 
new design in hand, it was printed out in full scale for a third review. The revised design 
received all positive responses from the committee and was approved for rapid 
prototyping. The method of choice for this phase was (FDM) Fused deposition modeling, 
it was the most cost effective and 
convenient process available at 
that time. Due to the cost of 
materials and lack of funding, a 
1/5 scale model was produced. 
Once the model was finished 
printing it was sanded and 
finished to look as realistic as 
possible to serve as a visual aid during the thesis defense and review the mechanical 
functionality and aesthetics in 3D.   
Figure 56 FDM model 
 
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Figure 57 front and back view of the scale model 
 
117 
 
5.9 Conclusion 
 In the future there will be more robots designed to interact with humans. As 
technology advances, the pace at which human interaction robots are developed will 
continue to grow. However, people come in all shapes and sizes with a wide range of 
abilities and disabilities. The task of designing robots that interact with the greatest 
possible percentage of the population is difficult due to the inherent variety found in the 
human population: height, weight, ability. It is crucial that the needs of all potential users 
be taken into consideration during the design process. One of the main goals of the 
approach developed during this study is to ensure that the needs of the users are not 
overlooked. This will significantly increase the usability and broaden the range of users 
the robot is capable of interacting with during its function.  
To address both human interaction and universal design, this study pursued an 
approach that consists of a five step process. The results of the five step approach proved 
to be a significant aid for designing the TourBot (as described below).  
 The first step, developing a task chart, is a basic list of tasks or functions that the 
robot needs to perform during the tour of Broun Hall.  
 The second step, a task map lays the functions out in the intended sequence to 
visualize the tour as a whole and determine if any adjustments need to be made.  
 Third, the interaction map isolates the individual tasks to discover what hardware 
and software is needed to complete the function and apply the principles of 
 
118 
 
universal design to identify what is needed in order to meet the needs of the users 
with disabilities.  
 The results of the interaction chart were then applied to the universal flowchart in 
a sequence of events to provide another overview of the tour and identify 
additional functions, hardware, and software that my need to be introduced into 
the design.  
 At this point a list of hardware and software was constructed using the flowchart 
as a guide. The list was then applied to the design process.  
 
The final concept reflects the results of the approach illustrated in figure 
55. Depending on the function of the robot, the five step approach could be used 
in its entirety or adapted to help designers develop human interaction robots. 
Future applications of the five step approach can be applied to the design of other 
robots whose function includes interacting with humans with diverse abilities and 
enhance the opportunity for the robot to be useable by more than the majority of 
the population.  
  
 
119 
 
 
Figure 58 final rendering with description of hardware 
 
120 
 
 
  
Figure 59 panorama of the TourBot in Broun Hall  
 
121 
 
 
  
Figure 60 taking a tour of Broun Hall 
 
122 
 
5.10 Continued study 
 During the course of this study the approach was applied to a tour guide robot. In 
the future, additional testing will need to be preformed to assess the adaptability of the 
approach to the design of other human interaction robots. Also a full scale, fully 
functional prototype of the TourBot needs to be constructed to conduct user testing and 
test the effectiveness of the robot and its functions. 
 
123 
 
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