Effects of Robot Motion on Human-Robot Collaboration

Most motion in robotics is purelyfifnctional, planned to achieve the goal and avoid collisions. Such motion is great in isolation, but collaboration affords a human who is watching the motion and making inferences about it, trying to coordinate with the robot to achieve the task. This paper analyzes...

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Veröffentlicht in:Hri '15: ACM/IEEE International Conference on Human-Robot Interaction USB Stick S. 51 - 58
Hauptverfasser: Dragan, Anca D., Bauman, Shira, Forlizzi, Jodi, Srinivasa, Siddhartha S.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: ACM 02.03.2015
Schlagworte:
Collaboration
Collision avoidance
coordination
human-robot collaboration
intent
motion
Planning
Robot kinematics
Task analysis
Trajectory
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Abstract Most motion in robotics is purelyfifnctional, planned to achieve the goal and avoid collisions. Such motion is great in isolation, but collaboration affords a human who is watching the motion and making inferences about it, trying to coordinate with the robot to achieve the task. This paper analyzes the benefit of planning motion that explicitly enables the collaborator's inferences on the success of physical collaboration, as measured by both objective and subjective metrics. Results suggest that legible motion, planned to clearly express the robot's intent, leads to more fluent collaborations than predictable motion, planned to match the collaborator's expectations. Furthermore, purely functional motion can harm coordination, which negatively affects both task efficiency, as well as the participants' perception of the collaboration.
AbstractList Most motion in robotics is purelyfifnctional, planned to achieve the goal and avoid collisions. Such motion is great in isolation, but collaboration affords a human who is watching the motion and making inferences about it, trying to coordinate with the robot to achieve the task. This paper analyzes the benefit of planning motion that explicitly enables the collaborator's inferences on the success of physical collaboration, as measured by both objective and subjective metrics. Results suggest that legible motion, planned to clearly express the robot's intent, leads to more fluent collaborations than predictable motion, planned to match the collaborator's expectations. Furthermore, purely functional motion can harm coordination, which negatively affects both task efficiency, as well as the participants' perception of the collaboration.
Author Forlizzi, Jodi
Dragan, Anca D.
Bauman, Shira
Srinivasa, Siddhartha S.
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  givenname: Anca D.
  surname: Dragan
  fullname: Dragan, Anca D.
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  organization: Carnegie Mellon Univ., Pittsburgh, PA, USA
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  givenname: Shira
  surname: Bauman
  fullname: Bauman, Shira
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  organization: Carnegie Mellon Univ., Pittsburgh, PA, USA
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  givenname: Jodi
  surname: Forlizzi
  fullname: Forlizzi, Jodi
  email: forlizzi@cs.cmu.edu
  organization: Carnegie Mellon Univ., Pittsburgh, PA, USA
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  givenname: Siddhartha S.
  surname: Srinivasa
  fullname: Srinivasa, Siddhartha S.
  email: siddh@cs.cmu.edu
  organization: Carnegie Mellon Univ., Pittsburgh, PA, USA
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Snippet Most motion in robotics is purelyfifnctional, planned to achieve the goal and avoid collisions. Such motion is great in isolation, but collaboration affords a...
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StartPage 51
SubjectTerms Collaboration
Collision avoidance
coordination
human-robot collaboration
intent
motion
Planning
Robot kinematics
Task analysis
Trajectory
Title Effects of Robot Motion on Human-Robot Collaboration
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