Human-robot interfaces for large robot teams pdf merge

From these studies, we have generated recommendations and design guidelines for hri with remote, semiautonomous humanoids, but our findings also have implications outside of the competitions domain. Pdf robotic workmates hybrid humanrobotteams in the. 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. This paper describes our 14 robot team, designed to perform urban reconnaissance missions, that won. E15468, cambridge, ma, 029, usa many new applications for robots require them to work alongside people as capable members of humanrobot teams. Human robot interface 26 compiled in this website is information concerning the history, physiological context, technology and sociological relevance related to humanrobotic interfaces. Because of its high flexibility and adaptability, the human robot cooperation is expected to have a wide range of applications in uncertain. Human interfaces group human centered design human. Keywords humanrobot collaboration, humanrobot teaming, crosstraining, shared mental model 1. Collaboration in humanrobot teams unified theory of cognition for solving the whole problem we already know how to be mobile, avoid collisions, etc cognitive psychology study humanhuman collaboration determine important highlevel cognitive skills build computational cognitive models of these skills actr, soar, epic. Teams consist of approximately 100 robots which can be deployed in unexplored areas and which can ef. Investigating human perceptions of robot capabilities in.

Modeling humanrobot interaction for intelligent mobile robotics. Recent nist efforts have turned to identifying interface features and hri strategies that lead to successful human robot joint exploration. The impact of humanrobot interfaces on the learning of visual objects pierre rouanet, pierreyves oudeyer, member, ieee, fabien danieau, and david filliat, member, ieee abstractthis paper studies the impact of interfaces, allowing nonexpert users to ef. 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. However, fully autonomous systems are still vulnerable in unconstrained environments where unanticipated events and. A robot must obey any orders given to it by human beings a robot must protect its own existence as long as such protection 5. On the other hand, cognition, neuroscience, systems theory, control theory. Building a relationship between robot characteristics and.

A smaller project from the office of naval research. User interfaces for human robot interactions with a swarm of robots in support to firefighters. A large, multiuniversity grant through the armys robotics cta project. Critical considerations for human robot interface development julie a. Autonomy should make human crews independent from earth and robotic missions more capable. For robots to achieve human level of performance in collaborative tasks, we need to include their human interaction partner, not only at deployment, but also during training. Ieee transactions on robotics 1 the impact of humanrobot. Progress and prospects of the humanrobot collaboration. Investigating humanrobot teams for learningbased semi. May 19, 2016 humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. This presentation will provide program information, goals and objectives of the technology for human robot interactions in soldier robot teaming hri army technology objective ato.

This problem arises in human robot teams, where natural language is a favored communication means. Semiautonomous control of multirobot teams in urban. User interfaces for human robot interactions with a swarm. The second part provides reader with an introduction to fundamental concepts behind speech technologies, which are the key element of voice user interfaces, one of the possible ways to realize humanrobot interaction. Physical collaboration of humanhuman and humanrobot teams. Humanrobot interface design for large swarms of autonomous. Our team began with a stateoftheart system, but these methods were inadequate both in. However, despite recent efforts to harvest energy from the human body, selfpowered eskin with the ability to.

In this article, we discuss our perspectives on effective and ineffective humanrobot teams based upon our experiences at the drc. Longterm human robot teaming for robot assisted disaster response. Toward open knowledge enabling for human robot interaction. The hrios provides a structured software framework for building humanrobot teams, sup ports a variety of user interfaces, enables humans and robots to engage in taskoriented dialogue, and facilitates integra tion of robots through an extensible api. Humanrobot interaction seminar report, ppt, pdf for ece. The challenges posed by cooperative human robot navigation are typically addressed by using haptic feedback via physical. Our research focuses on developing learningbased semiautonomous controllers for rescue robot teams.

We designed a robotic system capable of autonomously performing tabletop manipulation tasks while monitoring the environmental state. Humanrobot teaming research has benefited from research on automation e. This chapter first gives a brief introduction to various humanrobot interfaces and several technologies of humanrobot interaction using visual sensors and electroencephalography eeg signals. This paper describes the first step in the program, which is. They compare the use of a flystick and data gloves for the 3d interaction with the robot. Perspectives on humanrobot team performance from an.

An emotionsensitive humanrobot cooperation framework where a robot is sensitive to the emotions of the human working with it and is also capable of changing its behavior based on this perception. The new dimension of collaboration between humans and robots can be measured in just a few centimeters. Existing electronic skin eskin sensing platforms are equipped to monitor physical parameters using power from batteries or nearfield communication. Human robot teams will require appropriate user interfaces in order to effectively perform exploration field labor. System teaches human robot teams to work better together. We show that the robot human teams are able to increase the prediction accuracy to 75.

Cooperative navigation for mixed humanrobot teams using. Humans will merge with robots to become cyborgs in the future, warn experts humans will eventually merge with robots to become an elite race of cyborgs, a scientist has sensationally. Chapter 12 autonomous navigation for mobile robots with human. The variability in mapquality between different teams is a testament to the dif. Then, we present four alternative humanrobot interfaces. To understand the usability of mitres human robot interface, we have embarked on a multistep evaluation program. Topeer human robot teams, 10th international conference on intelligent autonomous systems, 2008.

The hrios provides a structured software framework for building humanrobot teams, supports a variety of user interfaces, enables humans and robots to engage in taskoriented dialogue, and facilitates integration of robots through an extensible api. Teams organization and performance in multihumanimulti robot teams michael lewis, huadong wang, and shihyi chien. Reducing the reliance of such systems on human operators presents a number of technical challenges including automatic task allocation, global state and map estimation, robot perception, path planning, communications, and human robot interfaces. Explore humanrobot interaction with free download of seminar report and ppt in pdf and doc format.

The human robot teams research is funded by three grants. There is a desire to move from systems containing a single or a small number five or fewer robots to systems containing a very large number of robots. Experience in system design for humanrobot teaming in. For example, in order for the robot to track human movements, the worker must wear an expensive motion capture body suit. Integrated intelligence for humanrobot teams robotics institute. Humanrobot collaboration is a new trend in the field of industrial and service robotics as a part of the strategy industry 4. Humanrobot interaction seminar report and ppt for electrical. A robot may not injure a human being or, through inaction, allow a human being to come to harm. Therefore, as a whole, the human robot team is unable to obtain its full potential. A voice user interface for humanrobot interaction on a. The curiosity mission operations interface combines image browsing, highlevel planning and lowlevel commanding and validation all in one tightlyintegrated tool. Index termsmetrics, human robot teams, supervisory control.

The intent of this program is to develop and demonstrate an intelligent scaleable interface for mounted and dismounted control of ground and air unmanned systems. For a teleoperated robot, the type of interaction is obvious. To expand the application scopes of robotics systems, i. Humanrobot interaction is a multidisciplinary field with contributions from humancomputer interaction, artificial intelligence, robotics, natural language understanding, design, humanities and social sciences. Humanrobotic interfaces are systems in which biological signals are interpreted by machines to control digital interfaces, robots, or robotic prosthetics. 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. Here we study the relative benets of congurable vs. Their advantage over solely teleoperated robots is that they can address the task handling and situation awareness limitations of human operators by providing some level of autonomy to the multi robot team. Introduction while most operational human robot teams. The state of the art in humancomputerinteractions is therefore merging with the. Involving users throughout the yearly development cycle does more than just telling us what they need requirements, and whether our systems do the job evaluations. There are several practical hurdles to humanrobot team deployments that are beyond the scope of shahs research.

The second set of experiments was carried out in a parking lot of a large. Sliding autonomy, humanrobot teams, peertopeer teams, pickup teams. Biofuelpowered soft electronic skin with multiplexed and. Large control delays also make the the shoulder toshoulder. A preliminary study of peertopeer human robot interaction.

Introduction many tasks bene t from or require large numbers of robotic agents, but as the number of agents or teams increases so permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are. Teams organization and performance in multihumanimulti. Shah expects that this problem will soon be solved by cheaper, less intrusive, and more accurate sensing. We have designed the hrios to support a variety of multimodal and perceptual interfaces including shared workspaces and handhelds and to facilitate integration of thirdparty uis and robots through an extensible api. Robots and the strategy itself are known under the german acronym. Introduction swarm robotics, especially controlling swarm teams of multiple uvs, have drawn growing attentions in the recent years. Large control delays also make the the shouldertoshoulder.

Grounding spatial relations for outdoor robot navigation abdeslam boularias, felix duvallet. Critical considerations for humanrobot interface development. Collaboration in humanrobot teams personal robots group mit. Predictive planning for heterogeneous humanrobot teams. Introduction swarm robotics, especially controlling swarm teams of multiple uvs, have drawn growing attentions in. In response, one participant suggested that challenges of effective robot to robot communication would be made simpler by removing the cultural baggage of human communication. Through a usercentered cognitive engineering method, human robot teamwork is analyzed, modeled, implemented and evaluated in an iterative fashion. 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. Humanrobot interactions for single robots and multirobot teams. Progress towards multirobot reconnaissance and the magic. For large heterogeneous teams involving multiple human and robotic agents, it is better to consider a distributed systemslevel approach that simultaneously optimizes assignments or schedules for all agents. 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. A graphical user interface enables humans to direct robots to explore the unknown environment.

May 08, 2015 this approach points the way toward more general models of human robot collaboration building world models from both linguistic and nonlinguistic input, following complex grounded natural language commands, and engaging in fluid, flexible collaboration with their human partners. Human robot collaboration is a new trend in the field of industrial and service robotics as a part of the strategy industry 4. The field of humanrobot interaction hri addresses the design, understanding, and evaluation of robotic systems, which involve humans and robots interacting through communication. Collaboration between humans and robots sciencedaily. Hmri human multirobot interface now, were ready to get some work done. Once the competitions began, we observed the operator of each team s robot s during their competition runs. Peshkin, member, ieee abstracthuman partners working on a target acquisition task perform faster than do individuals on the same task, even. A human teacher can show potential objects of interest to the robot, which is able to self adapt to the teaching signal without providing manual segmentation labels. They found that, compared to a restricted interface in which only automated control was available, mission execution times were shorter when the operator was able to flexibly use, at. The design of the interface has a significant influence on the achievable performance in humanrobot team interaction. Robot moves with human robot team to jumpingoff point. Survey on humanrobot collaboration in industrial settings. Research experience includes working with pioneers, atrvjrs, amigobots, egators and lagr robots. The irobot swarm is composed of 112 individual robots that work together to accomplish group goals.

A preliminary study of peertopeer humanrobot interaction. Audi s humanrobot cooperation in production processes relies on the robot part4you. Interaction challenges in humanrobot space exploration. Pdf collaboration in humanrobot teams researchgate. This prompted a discussion on whether new ways for robots to communicate with one another could reduce the number of humans in human robot teams. Fast scheduling of multirobot teams with temporospatial. This study supports the hypothesis that the effective and. 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. While research in humanrobot interaction highlights the promise of predicting user intent and performing anticipatory actions for facilitating humanrobot collaboration, how robots may draw on the gaze patterns of their users to predict and. Inter robot accuracy is challenging for multi robot systems of standard industrial robots. Speech and gesture interfaces for squad level human robot. Peshkin, member, ieee abstract human partners working on a target acquisition task perform faster than do individuals on the same. They show that our mms is functional although multimodality used in our experiments is not sufficient to provide an efficient human robot interaction. A learningbased semiautonomous control architecture is developed for multi robot teams in usar environments, allowing a team of rescue robots.

Collaborative tools for mixed teams of humans and robots 3 the operator must not only understand the robotics force in terms of where they are, but she must understand what they are doing now and what they will likely do in the near future. 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. A large body of work in the field of human robot interaction has looked at how humans and. 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. In robot painting, this can lead to gaps or overlaps at interfaces between work done by two different robots, and so we seek a task assignment with the fewest interfaces possible. Modeling humanrobot interaction for intelligent mobile robotics tamara e. Technical approach ongoing human missions to the international space station have an integrated mix of crew working with iva and eva robots teamed with supporting autonomous systems onboard.

The implementing techniques for two main modules of the robot, multimode nlp and integrated decision making, are addressed in sections 3 and 4, respectively. Constrained interfaces humanrobot teams will require appropriate user interfaces in order to effectively perform exploration field labor. We do so by comparing predictions with actual data from a user study, which is also described. The robotic setup used for human robot and humanhuman collaboration. The challenge of building human robot interfaces using natural language generated a large body of. Humanrobot interaction is the study of interactions between humans and robots. Discriminative and adaptive imitation in unimanual and bimanual. They believe that their model could make it easier to design systems that enable humans and robots to work togetherin, for example, emergencyresponse teams. In addition, with the aim to achieve a reasonable convergence of views for the required future developments, our focus will be mostly on the physical aspects2 of the human robot collaboration. Physical collaboration of humanhuman and human robot teams kyle b. Pdf the impact of humanrobot interface design on the. Humanrobot physical interaction and collaboration using an.

The robot must be able to simultaneously map the environ. Human robot interaction, multirobot systems, unmannedvehicle, swarms 1. Obile robots are becoming more involved in the variety of teleexploration tasks such as surveillance of large areas 1, search and rescue 2 and military missions 3. Human robot interaction research is diverse and covers a wide range of topics.

Because humans will need to interact with robots in a variety of ways different levels of autonomy, different spatial arrangements, etc. Current research interests lie with identifying performance metrics of human robot teams, and specifically with the use of faulttolerance to improve system performance. Robot and human work collaboratively to disambiguate. Grounding spatial relations for outdoor robot navigation. It embeds a camera and a suction cup to assist human workers in picking up the components from boxes and to pass them to the assembly workers, without any safety barrier, at the right time and in an ergonomically optimal position 196.

Exploration and mapping with autonomous robot teams. Every robot application appears to have some form of interaction, even those that might be considered fully autonomous. Here, we address the question of whether and when a robot should take initiative during joint human robot task execution. We have designed a novel interface to enable command and control of a team of mobile robots by a single operator. Human robot team working on a simulated construction project. By combining the information inferred by proprioception, sensor and speech the human position and. Experience shows that any incident serious enough to require robot involvement will most likely involve a sequence of sorties over several hours, days and even months. Murphy executive summary as part of a darpansf study on human robot interaction, an interdisciplinary workshop was conceived, which. Designing effective user interfaces for humanrobot interaction is an ongoing challenge, and a variety of single and multiplemodality interfaces have been explored. 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 humanrobot interface hri will be implemented through a graphical user interface gui which contains the ses, command prompt, compass, environment map, sonar and laser display. The user interface builds the bridge between the human and robot team, and determines the command and feedback information for the human user and its representation. Depending on the nature of the display, the human interactant might remotely observe the robot from a thirdperson. For eskins to be applied in the next generation of robotics and medical devices, they must operate wirelessly and be selfpowered. For a fully autonomous robot, the interaction may consist of highlevel supervision and direction of the robot, with the human providing goals and with the. Robots and the strategy itself are known under the german acronym mrk mensch roboter kollaboration or the english acronym hrc human robot collaboration. Intuitionenabled machine learning beats the competition. Physiological measures for human performance analysis in. The primary purpose of this article is to provide a comprehensive description of past and presentday robotics. This approach provides a natural teaching interface for the robot. These three laws of robotics determine the idea of safe interaction 6. Evaluating humanrobot interaction in a searchandrescue.