Human preferences for robot-human hand-over configurations
Human preferences for robot-human hand-over configurations
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DOI：
10.1109/iros.2011.6094735
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
M. Cakmak;S. Srinivasa;Min Kyung Lee;J. Forlizzi;S. Kiesler
中科院分区：
文献类型：
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作者：
M. Cakmak;S. Srinivasa;Min Kyung Lee;J. Forlizzi;S. Kiesler
将物体交给人类是辅助机器人的基本能力。虽然递东西的方式有无限种，但机器人应该能够选择最适合人类的一种。在本文中，我们着重于选择发生物体转移的机器人和物体构型，即移交构型。我们提倡在选择移交配置时结合用户偏好。我们提出了一项用户研究，其中我们收集了关于人类偏好的数据，并进行了人机交互实验，其中我们比较了从人类示例中学习到的移交配置与使用人类运动学模型规划的配置。我们发现，根据几个标准，学习的配置是首选的，但是计划的配置提供更好的可达性。此外，我们发现人类更喜欢在物体的默认方向上进行交接，我们确定了几个关于机器人手臂的潜在变量，这些变量捕捉了人类的重要偏好。这些发现表明，规划人员不仅可以为新对象生成最佳的、更可取的移交配置。
Handing over objects to humans is an essential capability for assistive robots. While there are infinite ways to hand an object, robots should be able to choose the one that is best for the human. In this paper we focus on choosing the robot and object configuration at which the transfer of the object occurs, i.e. the hand-over configuration. We advocate the incorporation of user preferences in choosing hand-over configurations. We present a user study in which we collect data on human preferences and a human-robot interaction experiment in which we compare hand-over configurations learned from human examples against configurations planned using a kinematic model of the human. We find that the learned configurations are preferred in terms of several criteria, however planned configurations provide better reachability. Additionally, we find that humans prefer hand-overs with default orientations of objects and we identify several latent variables about the robot's arm that capture significant human preferences. These findings point towards planners that can generate not only optimal but also preferable hand-over configurations for novel objects.