Abstract

Achieving effective cooperation between robots and humans requires the design of a natural, human-centric interface and autonomous robot behaviors whereby a human can communicate and interact with a robot almost as efficiently as he/she would with another human. In this interaction the human acts as a supervisor and collaborator with the robot, rather than strictly as a teleoperator. This requires that a number of capabilities be built into the robot and robot interface, including voice recognition, natural language and gesture understanding, a cognitive model, and behaviors supporting dynamic autonomy. This paper describes the design and implementation of such a system.

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