Toward a New Approach for Human-Robot Interaction

21世纪的一件了不起的事是服务机器人的兴起。服务机器人的设计和制造是为了为人类做特定的工作。这些机器人包括自主、移动或两足专业服务机器人，它们是配备了最先进的传感器、执行器和处理能力的现代机器人平台。这类新的机器人被视为一种新的、有前途的技术，它将与人类并肩工作，与员工在任务上进行协作。 我在当前提案中的主要目标是使协作的人-机器人交互(HRI)任务更加安全和直观。HRI中的安全问题是机器人学中最具挑战性的问题之一。此外，机器人理解和解释人类意图的能力是另一个仍然鲜为人知的困难。20世纪中叶，人权研究所被公认为是一个多学科的科学领域。然而，涉及人类和机器人的协作任务仍然局限于很少的简单任务。这部分是因为缺乏能够适当地完成这些协作任务的控制算法和运动规划策略。 在我的研究计划范围内，我计划开发一个人类安全模型，并在合作的HRI任务中解释人类的意图。这些模型将基于现代运动规划方法、先进的数值优化技术和人类实用推理理论。最终目标是在一个真正的机器人平台上执行之前的模型，与人类进行合作互动，更重要的是，安全地与人类互动。 预期的结果将对HRI和服务机器人领域以及其他科学领域，如认知科学、神经科学、人机界面设计等产生有价值的影响。在军事、医疗服务、农业、救援和卫生保健等领域，“同事机器人”的未来非常近。

One remarkable event in the 21th century is the arise of service robotics. The service robots are designed and built for doing a specified work for humans. These robots include the autonomous, mobile or bipedal professional service robots, which are modern robotic platforms equipped with the most advanced sensors, actuators and processing capacities. This new class of robots counts as a new and promising technology that will work side by side with people, collaborating with employees on tasks. MY MAIN OBJECTIVE in the current proposal is making the COOPERATIVE human-robot interaction (HRI) tasks more safe and intuitive. The question of safety issue in HRI is one of the most challenging problems in robotics. Besides the capability of robots to understand and interpret human intentions is another difficulty which is still poorly understood. The HRI has been recognized as a multidisciplinary scientific field in the mid of the 20th century. Nevertheless, the cooperative tasks involving human beings and robots are still limited to few simple tasks. This is partially because of the lack of control algorithms and motion planning strategies that are able to achieve these cooperative tasks appropriately. In the scope of my research program, I plan to develop a human safety model, and an interpreter of human intentions in the context cooperative HRI tasks. These models will be based on the modern motion planning approaches, advanced numerical optimization techniques and human practical reasoning theory. The ultimate goal is to execute the previous models on a real robotic platform interacting cooperatively and, importantly, safely with human beings. The expected results will have valuable impact on HRI and service robotics fields, as well as on other scientific fields, e.g. cognitive science, neuroscience, human-interface design, etc. The future of "co-worker robots" in fields as diverse as the military, medical services, agriculture, rescue and health-care IS REALLY NEAR.