ICRA 2011 Paper Abstract

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Paper TuA1-InteracInterac.15

Taha, Tarek (Centre of Excellence Centre of Excellence for Autonomous Systems), Valls Miro, Jaime (University of Technology Sydney), Dissanayake, Gamini (University of Technology Sydney)

A POMDP Framework for Modelling Human Interaction with Assistive Robots

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Cognitive Human-Robot Interaction, Robot Companions and Social Human-Robot Interaction, Human Performance Augmentation

Abstract

This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured in a model based on a partially observable Markov decision process (POMDP). States representing the human operator are motivated by behaviours from the psychology of the human action cycle. Hierarchical nature of these states allows the exploitation of data structures based on algebraic decision diagrams (ADD) to efficiently solve the resulting POMDP. The proposed framework is illustrated using two examples from assistive robotics; a robotic wheel chair and an intelligent walking device. Experimental results from trials conducted in an office environment with the wheelchair is used to demonstrate the proposed technique.

 

 

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