Game Theoretic Approaches to Advancing Physical Human-Robot Collaborations through Nudging

点击翻译按钮获取中文摘要

Humans perform numerous tasks in their daily life that require collaboration with others. In these scenarios the two humans work together, anticipate how the other will behave and guide their partner towards the joint goal. For instance, two humans can effortlessly move and flip large boxes in a warehouse. Likewise, a human can pour wine into a glass held out by another human, without spilling.The main focus of the project is to understand the effects of implicit communication in dyadic collaborative scenarios. The goal of the project is to develop a robotic system capable of exploiting intention estimation, game theoretic and nudging techniques to improve the state of the art in physical human robot collaboration. We believe that a successful outcome is an enabler for the broader use of robot partners in the industrial sector, in the hospitality sector as well as in our homes.The work within this project with focus on the following specific aspects of the system.(i) Development of an inference module that can predict the human's intentions and action based on the history of the human's motion.(ii) Evaluate sensory feedforward cues that can make collaboration more intuitive and disambiguate agent's actions(iii) Utilise nudge theory to influence the human's behaviour to ease the disambiguation of human intentions.(iv) Develop a planner based on the 'theory of mind' that applies game theory to make decisions and facilitates 'role taking' for effective interactions in collaboration.(v) Exploit the framework above to demonstrate human-robot co-manipulation on existing hardware