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

Copyright Owner and License

Authors

Additional URL

https://doi.org/10.1145/3411764.3445355

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