Toward a New Approach for Human-Robot Interaction

服务机器人技术的兴起是21世纪世纪的一个重大事件。服务机器人的设计和建造是为了为人类做指定的工作。这些机器人包括自主的、移动的或双足专业服务机器人，它们是配备有最先进的传感器、执行器和处理能力的现代机器人平台。这种新型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，与员工合作完成任务。我在当前提案中的主要目标是使合作的人机交互（HRI）任务更加安全和直观。HRI中的安全问题是机器人技术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知之甚少的困难。在世纪中期，HRI已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合作任务仍然局限于一些简单的任务。这部分是因为缺乏能够适当地实现这些合作任务的控制算法和运动规划策略。在我的研究计划的范围内，我计划开发一个人的安全模型，并在合作的HRI任务的背景下，人类的意图的解释。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践推理理论。最终的目标是在一个真实的机器人平台上执行以前的模型，该平台与人类进行合作，重要的是，安全地进行交互。预期的结果将对HRI和服务机器人领域以及其他科学领域产生宝贵的影响，例如认知科学，神经科学，人机界面设计等，“同事机器人”在军事，医疗服务，农业，救援和医疗保健等领域的未来真的很近了。

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.