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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Bibliographic Details
Published in:2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 29 - 36
Main Authors: Shah, Julie, Wiken, J., Williams, B., Breazeal, C.
Format: Conference Proceeding
Language:English
Published: IEEE 06.03.2011
Subjects:
autonomy and trust
Decision making
Dynamic scheduling
experiments on HRI
HRI group dynamics
Humans
Robot kinematics
Schedules
task allocation and coordination
Teamwork
ISBN:1467343935, 9781467343930
ISSN:2167-2121
Online Access:Get full text
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Summary: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.
ISBN:1467343935
9781467343930
ISSN:2167-2121
DOI:10.1145/1957656.1957668