Abstract
How do humans want to interact with collaborative robots? As robots become more common and useful not only in industry but also in the home, they will need to interact with humans to complete many varied tasks. Previous studies have demonstrated that autonomous robots are often more efficient and preferred over those that need to be commanded, or those that give instructions to humans. We believe that the types of actions that make up a task affect the preference of participants for different interaction styles. In this work, our goal is to explore tasks with different action types together with different interaction styles to find the specific situations in which different interaction styles are preferred. We have identified several classifications for table-top tasks and have developed a set of tasks that vary along two of these dimensions together with a set of different interaction styles that the robot can use to choose actions. We report on results from a series of human-robot interaction studies involving a PR2 completing table-top tasks with a human. The results suggest that people prefer robot-led interactions for tasks with a higher cognitive load and human-led interactions for joint actions.
Highlights
As robots become more common in industrial and private settings, they need to be able to interact collaboratively with humans
The results of the Interaction Styles study confirm our hypothesis that the Autonomous and Proactive modes are more efficient than the other modes for completing the bridge-building task
The study identified two situations in which human-led or robot-led interactions might be preferred over autonomous interactions: participants prefer to have control over the interactions for tasks involving joint action and tasks that have higher cognitive load are perceived as easier in robot-led interactions
Summary
As robots become more common in industrial and private settings, they need to be able to interact collaboratively with humans. Research in the Human-Robot Interaction field often draws on previous research on human interactions, but there are still many unanswered questions regarding how people want to interact with collaborative robots. In situations in which humans and robots collaboratively work in close proximity, the actions of the agents need to be coordinated so that the human and the robot can efficiently work together without hindering each other. Previous work has focused on different coordination mechanisms that can be used for a human and a robot to communicate about which actions should be performed (Lallée et al, 2013; Devin et al, 2017) and designing interactions with different roles with respect to the planning and execution of actions (Shah et al, 2011; Baraglia et al, 2016; Roncone et al, 2017). A variety of robot systems have been designed to improve specific elements of human-robot interaction
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