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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Bibliographic Details
Published in:Hri '15: ACM/IEEE International Conference on Human-Robot Interaction USB Stick pp. 51 - 58
Main Authors: Dragan, Anca D., Bauman, Shira, Forlizzi, Jodi, Srinivasa, Siddhartha S.
Format: Conference Proceeding
Language:English
Published: ACM 02.03.2015
Subjects:
Collaboration
Collision avoidance
coordination
human-robot collaboration
intent
motion
Planning
Robot kinematics
Task analysis
Trajectory
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Summary: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.
DOI:10.1145/2696454.2696473