Rebellion and Obedience: The Effects of Intention Prediction in Cooperative Handheld Robots
Rebellion and Obedience: The Effects of Intention Prediction in Cooperative Handheld Robots
复制标题
叛逆与服从：协作手持机器人中意图预测的效果
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
W. Mayol
中科院分区：
文献类型：
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作者：
Janis Stolzenwald;W. Mayol
在这项工作中，我们探索了手持机器人设置背景下用户动作的意图推理。手持机器人在能够处理任务信息和辅助操作的同时，共享手持工具的形状和属性。在此，我们提出一个意图预测模型来增强合作任务解决。该模型从用户的注视模式和任务知识的组合信息中获得意图。在实验研究中，通过比较机器人遵循用户预期动作的预测位置与相反（反叛）的情况下用户的挫败感，验证了该模型。所提出的模型产生实时能力和可靠的精度，比预测的操作执行早1.5秒。
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation. Here, we propose an intention prediction model to enhance cooperative task solving. The model derives intention from the combined information about the user’s gaze pattern and task knowledge. Within experimental studies, the model is validated through a comparison of user frustration for the case where the robot follows the predicted location of the user’s intended action versus doing the opposite (rebellion). The proposed model yields real-time capabilities and reliable accuracy up to 1.5 s prior to predicted actions being executed.