Evaluating intent-expressive robot arm motion (Inproceedings)

Bodden, C., D. Rakita, B. Mutlu, and M. Gleicher. “Evaluating Intent-Expressive Robot Arm Motion”. Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on, IEEE, 2016, pp. 658-63.


Planning effective arm motions is integral to manipulation tasks. In general, motion synthesis methods have focused on functional objectives, such as minimizing time and maximizing efficiency. However, recent work in human-robot collaboration suggests that choices in motion design can influence collaboration performance and quality. Some motion designs are easier than others for human observers to interpret. In this paper, we explore the tradeoffs in robot arm movements designed to be observed by people. Through a series of human-subjects experiments, we compare collaboration performance between several motion-synthesis methods explored by prior work. We find that a number of factors, including the design of the robot arm and metric for success, affect the relative merits of different approaches.

DOI: 10.1109/ROMAN.2016.7745188


	doi = {10.1109/roman.2016.7745188},
	url = {https://doi.org/10.1109%2Froman.2016.7745188},
	year = 2016,
	month = {aug},
	publisher = {{IEEE}},
	author = {Christopher Bodden and Daniel Rakita and Bilge Mutlu and Michael Gleicher},
	title = {Evaluating intent-expressive robot arm motion},
	booktitle = {2016 25th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})}