Improved human-robot team performance using Chaski, A human-inspired plan execution system
We describe the design and evaluation of Chaski, a robot plan execution system that uses insights from human-human teaming to make human-robot teaming more natural and fluid. Chaski is a task-level executive that enables a robot to collaboratively execute a shared plan with a person. The system choo...
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| Vydáno v: | 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI) s. 29 - 36 |
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| Hlavní autoři: | , , , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
| Vydáno: |
IEEE
06.03.2011
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| Témata: | |
| ISBN: | 1467343935, 9781467343930 |
| ISSN: | 2167-2121 |
| On-line přístup: | Získat plný text |
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| Shrnutí: | We describe the design and evaluation of Chaski, a robot plan execution system that uses insights from human-human teaming to make human-robot teaming more natural and fluid. Chaski is a task-level executive that enables a robot to collaboratively execute a shared plan with a person. The system chooses and schedules the robot's actions, adapts to the human partner, and acts to minimize the human's idle time. We evaluate Chaski in human subject experiments in which a person works with a mobile and dexterous robot to collaboratively assemble structures using building blocks. We measure team performance outcomes for robots controlled by Chaski compared to robots that are verbally commanded, step-by-step by the human teammate. We show that Chaski reduces the human's idle time by 85%, a statistically significant difference. This result supports the hypothesis that human-robot team performance is improved when a robot emulates the effective coordination behaviors observed in human teams. |
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| ISBN: | 1467343935 9781467343930 |
| ISSN: | 2167-2121 |
| DOI: | 10.1145/1957656.1957668 |