Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots
Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots
复制标题
验证人形足球机器人中人机交互的扩展忽视容忍模型
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Changjiu Zhou
中科院分区：
文献类型：
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作者：
R. E. Mohan;W. S. Wijesoma;C. A. Calderon;Changjiu Zhou
摘要评估人类机器人团队中的机器人性能是人类机器人交互社区中的一个重要问题。在以前的工作中，我们提出了扩展忽略容差模型估计机器人的性能，其中人类操作员切换机器人之间的控制顺序可接受的性能水平的基础上，考虑到人类机器人交互中的任何错误警报。任务复杂度是直接影响机器人性能和误报率的关键参数。在本文中，我们验证了两个不同复杂程度的机器人任务的扩展忽略容差模型。我们还提出了任务复杂性对机器人性能估计和假警报需求的影响。实验进行了真实的和虚拟的人形足球机器人在远程操作和半自主模式的自治。测得的虚警需求和机器人的性能在很大程度上是一致的扩展忽略容差模型预测的真实的和虚拟机器人实验。实验还表明，任务复杂度与虚警需求成正比，与机器人性能成反比。
SUMMARY Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In a previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on acceptable performance levels, taking into account any false alarms in human robot interactions. Task complexity is a key parameter that directly impacts the robot performance as well as the false alarms occurrences. In this paper, we validate the extended neglect tolerance model for two robot tasks of varying complexity levels. We also present the impact of task complexity on robot performance estimations and false alarms demands. Experiments were performed with real and virtual humanoid soccer robots across tele-operated and semi-autonomous modes of autonomy. Measured false alarm demand and robot performances were largely consistent with the extended neglect tolerance model predictions for both real and virtual robot experiments. Experiments also showed that the task complexity is directly proportional to false alarm demands and inversely proportional to robot performance.