On the role duality and switching in human-robot cooperation: An adaptive approach

Bryan Whitsell, Panagiotis Artemiadis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

As the expansion of the field of robotics has continued, the physical interaction between robots and humans has become an increasingly important area of study. Many of these physical interactions can be seen as a cooperative task conducted by both the robot and the human. Often, when two humans are interacting, one of them will act as the leader of some aspect of the task and the other will act as a follower. This cooperation may require the switching of roles between leader and follower. This can be further complicated by the fact that different participants may be the leaders of different aspects of the task. Previous research in human-robot cooperation focused on the switching of only a single role. In this paper, we investigate a novel method for the simultaneous switching of two roles between a robot and a human participant. This switching method was examined using both fixed and adaptive parameters that control role switching. Overall, human-robot cooperation was successful in the task 85% of the time when using a non-adaptive method and 95% when using an adaptive control method.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3770-3775
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Whitsell, B., & Artemiadis, P. (2015). On the role duality and switching in human-robot cooperation: An adaptive approach. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 3770-3775). [7139723] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139723