Grip-that-there: An investigation of explicit and implicit task allocation techniques for human-robot collaboration
Publication Type
Conference Proceeding Article
Publication Date
5-2021
Abstract
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task allocations that are pre-planned - there has not been a comprehensive exploration or evaluation of techniques where task allocation is adjusted in real-time. Inspired by HCI research on territoriality and proxemics, we propose a design space of novel task allocation techniques including both explicit techniques, where the user maintains agency, and implicit techniques, where the efficiency of automation can be leveraged. The techniques were implemented and evaluated using a tabletop HRC simulation in VR. A 16-participant study, which presented variations of a collaborative block stacking task, showed that implicit techniques enable efficient task completion and task parallelization, and should be augmented with explicit mechanisms to provide users with fine-grained control.
Keywords
Human-robot collaboration, Human-robot task allocation
Discipline
Information Security
Research Areas
Information Systems and Management
Publication
Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, Yokohama, Japan, May 8 - 13
ISBN
9781450380966
Identifier
10.1145/3411764.3445355
Publisher
Association for Computing Machinery
City or Country
New York
Citation
MAHADEVAN, Karthik; SOUSA, Mauricio; TANG, Anthony; and GROSSMAN, Tovi.
Grip-that-there: An investigation of explicit and implicit task allocation techniques for human-robot collaboration. (2021). Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, Yokohama, Japan, May 8 - 13.
Available at: https://ink.library.smu.edu.sg/sis_research/7902
Copyright Owner and License
Authors
Additional URL
https://doi.org/10.1145/3411764.3445355