Designing Human-Robot Coexistence Space
Designing Human-Robot Coexistence Space
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DOI：
10.1109/lra.2021.3097061
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发表时间：
2020-11
影响因子：
5.2
通讯作者：
Jixuan Zhi;L. Yu;Jyh-Ming Lien
中科院分区：
文献类型：
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作者：
Jixuan Zhi;L. Yu;Jyh-Ming Lien
当人机交互变得无处不在时，这些交互所处的环境将对人类的安全和舒适以及机器人的有效性和效率产生重大影响。虽然大多数机器人被设计为在为人类创造的空间中工作，但许多环境，如客厅和办公室，可以而且应该重新设计，以增强和改善人机协作和互动。本文以自动轮椅为例，探讨人机共存空间中的计算设计。给定房间大小和房间内的物品，该框架计算出满足人类偏好和轮椅导航约束的物品的最佳布局。关键的使能技术是一个运动规划器，可以有效地评估数百个类似的运动规划问题。我们的实现表明，与没有提议的运动规划器的10到20分钟相比，提议的框架平均可以在3到5分钟内产生一个设计。我们的研究结果还表明，即使在狭窄的空间和不同偏好的用户中，所提出的方法也能产生合理的设计。
When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots are designed to work in the spaces created for humans, many environments, such as living rooms and offices, can be and should be redesigned to enhance and improve human-robot collaboration and interactions. This letter uses autonomous wheelchair as an example and investigates the computational design in the human-robot coexistence spaces. Given the room size and the objects $O$ in the room, the proposed framework computes the optimal layouts of $O$ that satisfy both human preferences and navigation constraints of the wheelchair. The key enabling technique is a motion planner that can efficiently evaluate hundreds of similar motion planning problems. Our implementation shows that the proposed framework can produce a design around three to five minutes on average comparing to 10 to 20 minutes without the proposed motion planner. Our results also show that the proposed method produces reasonable designs even for tight spaces and for users with different preferences.