Human-robot cooperative sweeping using commands embedded in actions

Authors:
Kazuki Kobayashi;Seiji Yamada
Affiliations:
The Graduate University for Advanced Studies, Chiyoda, Tokyo, Japan;National Institute of Informatics, Chiyoda, Tokyo, Japan
Venue:
JSAI'03/JSAI04 Proceedings of the 2003 and 2004 international conference on New frontiers in artificial intelligence
Year:
2003

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Abstract

This paper proposes a novel interaction model of a human-robot cooperative task. The model employs CEA (Commands Embedded in Actions), which reduces a human cognitive load because it requires less explicit human-robot communication than direct commanding methods in conventional interaction models. We propose a guideline along which to design robots' actions based on CEA, and apply it to a cooperative sweeping task by a human and a small mobile robot. CEA is experimentally shown to reduce the human cognitive load more than direct commanding methods do in this sweeping task.