Affordances are an important concept in cognition, which can be applied to robots in order to perform a successful human-robot interaction (HRI). In this paper we explore and discuss the idea of emotional affordances and propose a viable model for implementation into HRI. We consider “2-ways” affordances: perceived object triggering an emotion, and perceived human emotion expression triggering an action. In order to make the implementation generic, the proposed model includes a library that can be customised depending on the specific robot and application’s scenario. We present the AAA (Affordance-Appraisal-Arousal) model, which incorporates Plutchik’s Wheel of Emotions, and show some examples of simulation and possible scenarios.

Emotion plays a powerful role in humans’ interaction with robots. In order to express more human-friendly emotions, robots need the capability of contextual appraisal that expresses the emotional relevance of various targets in the spatiotemporal situation. In this paper, an emotional appraisal methodology is proposed in this study to cope with such contexts. Specifically, the Ortony, Clore, and Collins model is abstracted and simplified to approximate an emotional appraisal model in the form of a sentence-based cognitive system. The contextual emotion appraisal is modeled by formulating the emotional relationships among multiple targets and the emotional transition with events and time passing. To verify the proposed robotic system’s feasibility, simulations were conducted for scenarios where it emotional interacts with humans manipulating liked or disliked objects on a table. This experiment demonstrated that the robot's emotion can variously change over time like human by using a proposed formula for emotional valence, which is moderated by emotion appraisal of occurring events.

In this work we report on our effort to design and implement an early introduction to basic robotics principles for children at kindergarten age. The humanoid robot Pepper, which is a great platform for human-robot interaction experiments, was presenting the lecture by reading out the contents to the children making use of its speech synthesis capability. One of the main challenges of this effort was to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. Besides the thrill being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. To the best of our knowledge this is one of only few attempts to use Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents. We got very positive feedback from the children as well as from their educators.

The real challenge in Human Robot Interaction (HRI) is to build machines capable of perceiving human emotions so that robots can interact with humans in a proper manner. It is well known from the literature that emotion varies accordingly to many factors. Among these, gender represents one of the most influencing one, and so an appropriate gender-dependent emotion recognition system is recommended. In this paper, a two-level hierarchical Speech Emotion Recognition (SER) system is proposed: the first level is represented by the Gender Recognition (GR) module for the speaker’s gender identification; the second is a gender-specific SER block. Specifically for this work, the attention was focused on the optimisation of the first level of the proposed architecture. The system was designed to be installed on social robots for hospitalised and living at home elderly patients monitoring. Hence, the importance of reducing the software computational effort of the architecture also minimizing the hardware bulkiness, in order for the system to be suitable for social robots. The algorithm was executed on the Raspberry Pi hardware. For the training, the Italian emotional database EMOVO was used. Results show a GR accuracy value of 97.8%, comparable with the ones found in literature.

This study observes, interprets, and analyses the knowledge production in the research field of Human–Robot Interaction (HRI). It intends to foreground the hidden assumptions that are often taken for granted when roboticist design and conduct their research. By doing so, this study demonstrates how these assumptions influence the result of their research. Based on data collected through sociological field observation, this study argues that the current practise in HRI research is highly anthropocentric. In short, the robots are designed to be like human instead of for human. Therefore, the human–robot relationship embodies the existing power relations between human beings. These relations generate inequality, hierarchy, and dominance, which are the opposite of the common imagination of the robotised future among roboticists. For the purpose of enabling the robotised future closer to their ideal, this study suggests that HRI researchers to go beyond the conventional methodology, to allow a human–robot relationship that realises reciprocity.

Automated extraction of buildings from earth observation (EO) data is important for various applications, including updating of maps, risk assessment, urban planning, policy making. Combining data from different sensors such as high-resolution multispectral (HRI) and light detection and ranging (LiDAR) has shown great potential in building extraction. Deep learning (DL) is increasingly used in multimodal data fusion and urban object extraction. However, DL-based multimodal fusion networks may underperform due to insufficient learning of “joint features” from multiple sources and oversimplified approaches to fusing multimodal features. Recently, an hybrid attention-aware fusion network (HAFNet) has been proposed for building extraction from a dataset including co-located Very-High-Resolution (VHR) optical images and Light Detection And Ranging (LiDAR) joint data. The system reported good performances thanks to the adaptivity of the attention mechanism to the features of the information content of the three streams but suffered from model overparametrization, which inevitably leads to long training times and heavy computational load. In this paper the authors propose a restructuring of the scheme, which involved replacing VGG-16-like encoders with the recently proposed EfficientNet, whose advantages counteract exactly the issues found with the HAFNet scheme. The novel configuration was tested on multiple benchmark datasets, reporting great improvements in terms of processing times, and also in terms of accuracy. The new scheme, called HAFNetE (HAFNet with EfficientNet integration), appears indeed capable of achieving good results with less parameters, translating into better computational efficiency. Based on these findings, we can conclude that, given the current advancements in single-thread schemes, the classical multi-thread HAFNet scheme could be effectively transformed by the HAFNetE scheme by replacing VGG-16 with EfficientNet blocks on each single thread. The remarkable reduction achieved in computational requirements moves the system one step closer to on-board implementation in a possible, future “urban mapping” satellite constellation.