Adaptive Coordination Strategies for Human-Robot Handovers
Adaptive Coordination Strategies for Human-Robot Handovers
复制标题
人机切换的自适应协调策略
DOI：
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复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Bilge Mutlu
中科院分区：
文献类型：
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作者：
Chien;M. Cakmak;Bilge Mutlu
-对象的移交是物理协作中经常出现的关键交互。在这样的互动中，人类会自然地监控他们伴侣的速度和工作量，并相应地调整他们的移交。在这篇文章中，我们研究了被设计成参与物理协作的机器人如何在执行切换时实现类似的自适应。为此，我们收集并分析了执行一项常见家庭任务--卸盘子架--的人类二人组的数据，在这些任务中，接收者有不同程度的任务需求。我们发现了两种使发送者适应接受者任务需求的协调策略(fi)。然后，我们制定了这些策略，并在机器人机械手上进行了实施。实施的自主系统在一项人-机器人交互研究中进行了评估，对照使用“主动”和“被动”协调方法的两条基线。结果表明，当人类接收者有更大的任务需求时，团队绩效和用户体验之间存在权衡。特别是，与被动和自适应方法相比，主动式方法提供了最高级别的团队绩效，但提供的用户体验最差。与主动式方法相比，被动型方法虽然改善了用户体验，但团队表现最差。我们的自适应方法保持了这种改进的用户体验，同时与反应式方法相比，提供了更好的团队性能。我们的fi代码提供了对使用这些方法所涉及的权衡的见解，并为未来机器人切换交互的设计提供了信息。
—Handovers of objects are critical interactions that frequently arise in physical collaborations. In such interactions, humans naturally monitor the pace and workload of their partners and adapt their handovers accordingly. In this paper, we investigate how robots designed to engage in physical collaborations may achieve similar adaptivity in performing handovers. To that end, we collected and analyzed data from human dyads performing a common household task—unloading a dish rack—where receivers had different levels of task demands. We identified two coordination strategies that enabled givers to adapt to receivers’ task demands. We then formulated and implemented these strategies on a robotic manipulator. The implemented autonomous system was evaluated in a human-robot interaction study against two baselines that use “proactive” and “reactive” coordination methods. The results show a tradeoff between team performance and user experience when human receivers had greater task demands. In particular, the proactive method provided the greatest levels of team performance but offered the poorest user experience compared to the reactive and adaptive methods. The reactive method, while improving user experience over the proactive method, resulted in the poorest team performance. Our adaptive method maintained this improved user experience while offering an improved team performance compared to the reactive method. Our findings offer insights into the tradeoffs involved in the use of these methods and inform the future design of handover interactions for robots.
DOI：
10.1109/iros.2013.6697021
发表时间：
2013-11
期刊：
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
E. Grigore;K. Eder;A. Pipe;C. Melhuish;U. Leonards
通讯作者：
E. Grigore;K. Eder;A. Pipe;C. Melhuish;U. Leonards