Role adaptation of human and robot in collaborative tasks. To guide this effort, this paper describes the initial development of a framework for trust development in human robot interaction research with a specific focus on trust repair. Humanrobot physical interaction and collaboration using an. The results show that human robot teams can benefit from imperfect static automation even in high task load conditions and that adaptive automation can provide additional benefits in trust and workload. In 23, realworld teleoperated robot team experiments were undertaken and the work discusses how human robot interaction is the current barrier to more successful human robot teaming. Sellner et al 6 discuss three major issues that affect human awareness in multi. Physical collaboration of humanhuman and humanrobot teams kyle b. Abstractthis paper describes the challenges for user interfaces in human robot teams and elaborates requirements considering the different roles that human can take over in such teams. Generation of coherent plans for safe and efficient human robot teamed activity at the remote location. The swarmbot has dedicated hardware for the physical user interface.
Algorithms and graphic interface design to control and teach a humanoid robot through human imitation marc rosanes siscart. Due to recent events, our hours of operation have temporarily been reduced. This approach provides a natural teaching interface for the robot. Robocup was founded in 1997 with the main goal of developing by 2050 a robot soccer team capable of winning against the human team champion of the fifa world cup.
The h2 robot is a designbuild project of faustex systems corporation as part of an overall humanoid robotics technology development effort. Introduction as teleoperated robots grow in complexity their number of degrees of freedom will outpace the number of simultaneous input channels realistically controlled by a human user. In this paper, we challenge the assumption that robots will succeed as teammates alongside humans. System teaches human robot teams to work better together. Hmri human multirobot interface now, were ready to get some work done. Scheggi et al cooperative navigation for mixed humanrobot teams using haptic feedback 463 authors proposed a leaderfollower formation control strategy, which in this paper has been adapted to our particular human. Human robot coordination for multi sized humanoid robot. A software and control architecture for a humanoid robot is a complex and large project, that involves a team of developersresearchers to be coordinated and requires many hard design choices.
Humanrobot shared control for humanoid manipulator trajectory planning yuanchao zhu, canjun yang, qianxiao wei, xin wu, wei yang. Large control delays also make the the shouldertoshoulder. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other purposes. Survey on humanrobot collaboration in industrial settings. The key issues in the design of interactive robots. Human robot interaction research is diverse and covers a wide range of topics. Posts about human robot interfaces written by walterfarah. Chapter 12 autonomous navigation for mobile robots with human robot interaction james ballantyne, edward johns, salman valibeik, charence wong, guangzhong yang abstract dynamic and complex indoor environments present a challenge for mobile robot navigation.
Humanrobot interaction is the study of interactions between humans and robots. If the robot planned a poor navigation path, a user could manually specify the waypoints of an optimal path. Pdf in this paper we present a human robotteam interaction solution for automated task handling in an industrial work environment. This at first makes the robot hard to control, but enables softer motions, better understanding of how we control our bodies and eventually robot. A humanoid robot is a robot with its body shape built to resemble the human body. At the teleoperation extreme, a human remotely controls a mobile robot or robotic arm. This paper is a call to the field of human robot interaction to focus research efforts on the development and repair of trust within human robot teams. Role adaptation of human and robot in collaborative tasks abstract.
The design and perception of humanoid robot heads carl f. This chapter first gives a brief introduction to various humanrobot interfaces and several technologies of humanrobot interaction using visual sensors and electroencephalography eeg signals. Humanrobot interaction hri has recently received considerable attention in the academic community, in labs, in technology compa nies, and through the media. School of information sciences university of pittsburgh pittsburgh, pa 15260 u. Humanoid robot for fast and autonomous bipedal locomotion. Buy ubtech alpha 1s intelligent humanoid robotic white. Humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. Current research interests lie with identifying performance metrics of human robot teams, and specifically with the use of faulttolerance to improve system performance. Also it has designed with low cost components and actuators.
This requires robots that can support handsfree operation, which drives many other aspects of the design. To ensure uninterrupted support, please use the selfhelp tools offered on our website. Algorithms and graphic interface design to control and. This paper describes the challenges for user interfaces in human robot teams and elaborates requirements considering the different roles that human can take over in such teams. Additionally, the robot is a large and complex creature with data and power limitations as well as many instruments, not all of which can be operated in parallel with each other. Computational design of mixedinitiative humanrobot teaming. The key issues in the design of interactive robots are safety. This paper aims to propose an intuitive shared control strategy to. Service robotics is currently a pivotal research area in robotics, with enormous societal potential. All aspects of human factors and robotics are within the purview of hri research so far as they provide insight into how to improve our understanding in developing effective tools, protocols, and systems to enhance hri.
Sophia is a social humanoid robot developed by hong kong based company hanson robotics. In these situations the human can potentially issue a series of relative waypoints to free. Human robot interaction hri is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance e. Relevant work has been done in related areas such as anthropomorphism 9, 20, 22, computers as social actors 22, 23, facial. An overview of humanrobot physical interaction control has been proposed in, which reports also a classification of contact types and related injuries as well as a description of collision handling methods. Critical considerations for humanrobot interface development. For example, a significant research effort is being devoted to designing human robot interface. The workshop discussed emerging interface and autonomy themes that could be. Humanrobot interaction in rescue robotics request pdf.
Human interfaces group human centered design human. They believe that their model could make it easier to design systems that enable humans and robots to work togetherin, for example, emergencyresponse teams. Proceedings of the 25th international conference on intelligent user interfaces humans and robots together. Challenges in collaborative hri for remote robot teams. Human robot interactions for single robots and multi robot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract human robot interaction hri research has mainly concentrated on developing efficient ways for humans to control and supervise robot behavior. Disalvo, francine gemperle, jodi forlizzi, sara kiesler human computer interaction institute and school of. Teams organization and performance analysis in autonomous.
Sensors free fulltext object identification for task. I will start by providing an overview of recent research in social human robot teams. Discussion of challenges for user interfaces in human. A gesture based interface for humanrobot interaction. Robot teammates are designed with highlevels of autonomy and welldeveloped coordination skills to aid humans in unpredictable environments. Building a relationship between robot characteristics and teleoperation user interfaces article pdf available in sensors 173. To achieve the specified objective, the performance of collaborative robot.
Robotics in the classroom is a multiyear project sponsored by wright patterson air force base to bring realworld applications of science and math concepts to the traditional classroom. Participant trust and selfconfidence were higher and workload was lower for adaptive automation compared with the other conditions. Critical considerations for human robot interface development julie a. Human robot interaction is a new area of research and the impact of design on this field has yet to be understood.
The idea of sliding autonomy allows a human, and a robot, to change the level of autonomy as needed. Pdf humanrobot interfaces for interacting with hundreds of autonomous. Student teams for classroom purposes should be set up in groups of 24 students per robot. A large body of work in the field of humanrobot interaction has looked at how humans and robots. Humanrobot interactions for single robots and multirobot teams. A userinterface robot for ambient intelligent environments. Evaluation of human robot interaction awareness in search and rescue jean scholtz and jeff young jill l. Pdf collaboration in humanrobot teams researchgate.
Situation awareness providing monitoring information during. Remote power onoff autonomous charging remote programming. Design patterns for exploring and prototyping humanrobot interactions allison sauppe and bilge mutlu. Compact realtime avoidance on a humanoid robot for human. Human robot interactions for single robots and multi robot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots to successfully take part in bidirectional social interactions with people, they must be capable of recognizing and responding to human affect. Evaluation of humanrobot interaction awareness in search and. The development of robots in human environments will depend largely on the full integration of mobility and manipulation.
Human robot interaction operating system in order for humans and robots to work effectively to gether, they need to be able to converse about abilities, goals and achievements. Intuitionenabled machine learning beats the competition when. Pdf the impact of humanrobot interface design on the. Humanrobot interaction is a multidisciplinary field with contributions from humancomputer interaction, artificial intelligence, robotics, natural language understanding, design, humanities and social sciences. Emerging from the early work in robotics, human factors.
Creating and commanding teams of uavs with a visionmediated gestural interface valiallah mani monajjemi, jens wawerla, richard vaughan and greg mori abstract extending our previous work in realtime visionbased human robot interaction with multi robot systems, we present the rst example of creating, modifying and command. The intention with search and rescue robots is that they are able to access locations that are both dangerous and inaccessible to humans. Research experience includes working with pioneers, atrvjrs, amigobots, egators and lagr robots. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots.
Operating with large data autonomy in motion mobile systems on battlefield human robot teaming air land sea crossdomain operations in deniedcommunications gps environments autonomy that allows warfighters to focus on their primary mission, not on operating their tools. For example, a significant research effort is being devoted to designing humanrobot interface that makes it easier for the people to interact with robots. Mobile manipulation is a relatively new research area. Taskoriented manmachine speech communication often relies on the use of. Humanrobot interface design for large swarms of autonomous. To make the human robot collaboration effective, it may be necessary to provide robots with senses like vision and hearing. On the other hand, cognition, neuroscience, systems theory, control theory. Deliver a suite of test methods, protocols, and information models to assess and assure that robots working collaboratively in human robot and robot robot teams will complete their assigned tasks safely and correctly while meeting their assembly performance objectives. Designing humanrobot interaction paradigms for multirobot manipulation bennie lewis and gita sukthankar 1 abstract this paper tackles the problem of designing an effective user interface for a multirobot delivery system, composed of robots with wheeled bases and two 3 dof arms. Humanrobot skills transfer interfaces for a exible surgical. Then, we present four alternative humanrobot interfaces. This is a casestudy task bound to be needed in many future personal robotics applications. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot.
The team formed by manuela veloso consisted of panelists with a rich complementary set of. May 19, 2016 humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. Ieee transactions on robotics 1 the impact of humanrobot. Those costs constrain development and research to the currently affordable resources, and they retard the testingandredevelopment cycle. There are an increasingly large number of hri researchers in the united states. Conference on human robot interaction hri extended abstracts. Other applications of such interactive robots can be seen in 1, 2. Posts about humanrobot interfaces written by walterfarah. Such items as one computer per robot, one robot per team. The challenges posed by cooperative humanrobot navigation are typically addressed by using haptic feedback via physical. Justin also known as rollin justin is an autonomous and programmable humanoid robot with two arms, developed by the german aerospace center dlr at the institute of robotics and mechatronics, located in wessling, germany.
Youre invited on over to faustex to find out more about the company that develops some of the coolest robots. We havent implemented it yet in humanrobot teams, says julie shah, an associate professor of aeronautics and astronautics and one of the papers two authors. The purpose of this paper is to draw upon the vast bank of human factors research and indicate how the existing results may be applied to the field of human. The future generation of surgical robots is a representative example emphasizing the urgent needs of developing new types of userfriendly humanrobot learning interfaces. In this paper, a role adaptation method is developed for human robot collaboration based on game theory. Humanrobot interaction is prominently seen in applications such as rescue robots, space support etc. The congruent motion of the robot and thg human robot coordination for multi sized humanoid robot using wireless communication. Humanrobot interactions for single robots and multirobot. Drury nist the mitre corporation gaithersburg, md, usa bedford, ma, usa jean.
Design and realization of a humanoid robot for fast and. Chapter 12 autonomous navigation for mobile robots with. Cooperative navigation for mixed humanrobot teams using. For illustration purposes, consider a robot that explores a warehouse. There is, however, a large body of work devoted to the study of motion coordination in the context of kinematic redundancy. Humanrobot teaming research has benefited from research on automation e. Roboy imitates the musculoskeletal system of the human body.
In particular, we argue that interfaces can be key in helping nonexpert users to collect good learning examples and, thus, improve the performance of the overall learning system. Sophia was activated on february 14, 2016, and made her first public appearance at south by southwest. We show that the robothuman teams are able to increase the prediction accuracy to 75. This chapter first gives a brief introduction to various humanrobot interfaces. Peshkin, member, ieee abstracthuman partners working on a target acquisition task perform faster than do individuals on the same task, even though the partners consider each other to be an impediment.
Anything you have to do to one robot, you have to do to all of them. Humanrobot interaction world technology evaluation center. Humanrobotic interfaces are systems in which biological signals are interpreted by machines to control digital interfaces, robots, or robotic prosthetics. Ii human robot interactions for single robots and multi robot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots. Performing experiments with humanrobot interfaces often requires the allocation of expensive and complex hardware and large physical spaces. Human robot interface 26 compiled in this website is information concerning the history, physiological context, technology and sociological relevance related to humanrobotic interfaces.
Humans and robots together proceedings of the 25th. The document was compiled with the latex2class amdiss based on the komascript class scrreprt. With supervisory control, a human supervises the behavior of an autonomous system and intervenes as necessary. Sliding autonomy, humanrobot teams, peertopeer teams, pickup. The human robot interaction operating system hruos is an agentbased system that provides coordination and interaction services for human robot teams 4. The implementation of various test interfaces and observations from experiments support the claimed requirements. For the latter, four possible robot reactions in response to the contact are presented. Most of the research efforts in human robot interaction have not been focused on design 11, 27. Building a relationship between robot characteristics and. A gesture based interface for human robot interaction. Compact realtime avoidance on a humanoid robot for human robot interaction. Stefan waldherr, roseli romero, and sebastian thrun. We investigated key gaps in prior literature by assessing how situational awareness is affected by the level of autonomy in mixedinitiative scheduling for humanrobot teams, the effects of increased or decreased workload in humanrobot team fluency, and the role of workflow preferences in robotic scheduling. A focus group session should fell freeflowing and relatively.
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