Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space
In this paper, we present a framework for an adaptive and risk-aware robot motion planning and control, and discuss how such a framework could handle uncertainty in human workers' actions and robot localization. We build on our prior investigation, where we describe how uncertainty in human act...
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| Format: | Article |
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American Institute of Aeronautics and Astronautics (AIAA)
2018
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| Online Access: | http://hdl.handle.net/1721.1/116084 https://orcid.org/0000-0002-1761-221X https://orcid.org/0000-0003-1338-8107 |
| _version_ | 1826214264491212800 |
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| author | Lasota, Przemyslaw Andrzej Nikolaidis, Stefanos Shah, Julie A |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Lasota, Przemyslaw Andrzej Nikolaidis, Stefanos Shah, Julie A |
| author_sort | Lasota, Przemyslaw Andrzej |
| collection | MIT |
| description | In this paper, we present a framework for an adaptive and risk-aware robot motion planning and control, and discuss how such a framework could handle uncertainty in human workers' actions and robot localization. We build on our prior investigation, where we describe how uncertainty in human actions can be modeled using the entropy rate in a Markov Decision Process. We then describe how we can incorporate this model of uncertainty into simulations of a simple collaborative system, involving one human worker and one robotic assistant, to produce risk-aware robot motions. Next, we highlight the diffculties associated with localization uncertainty in a space environment and describe how we can incorporate this uncertainty into an adaptive system as well. Expected advantages of an adaptive system are described, including increases in overall effciency due to reductions in idle time, increases in concurrent motion, faster task execution, as well as subjective improvements in the worker's satisfaction with the assistant and reduced worker stress and fatigue. A pilot experiment designed to evaluate the benefits of introducing risk-aware motion planning is described. It is found that human-robot teams in which the robot utilizes risk-aware motion planning show on average 24% more concurrent motion and execute the task 13% faster, while simultaneously improving safety by having a 19.9% larger mean separation distance between the human and robot workers. Finally, possible future system developments and user studies are discussed. |
| first_indexed | 2024-09-23T16:02:51Z |
| format | Article |
| id | mit-1721.1/116084 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T16:02:51Z |
| publishDate | 2018 |
| publisher | American Institute of Aeronautics and Astronautics (AIAA) |
| record_format | dspace |
| spelling | mit-1721.1/1160842022-10-02T05:59:02Z Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space Lasota, Przemyslaw Andrzej Nikolaidis, Stefanos Shah, Julie A Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Lasota, Przemyslaw Andrzej Nikolaidis, Stefanos Shah, Julie A In this paper, we present a framework for an adaptive and risk-aware robot motion planning and control, and discuss how such a framework could handle uncertainty in human workers' actions and robot localization. We build on our prior investigation, where we describe how uncertainty in human actions can be modeled using the entropy rate in a Markov Decision Process. We then describe how we can incorporate this model of uncertainty into simulations of a simple collaborative system, involving one human worker and one robotic assistant, to produce risk-aware robot motions. Next, we highlight the diffculties associated with localization uncertainty in a space environment and describe how we can incorporate this uncertainty into an adaptive system as well. Expected advantages of an adaptive system are described, including increases in overall effciency due to reductions in idle time, increases in concurrent motion, faster task execution, as well as subjective improvements in the worker's satisfaction with the assistant and reduced worker stress and fatigue. A pilot experiment designed to evaluate the benefits of introducing risk-aware motion planning is described. It is found that human-robot teams in which the robot utilizes risk-aware motion planning show on average 24% more concurrent motion and execute the task 13% faster, while simultaneously improving safety by having a 19.9% larger mean separation distance between the human and robot workers. Finally, possible future system developments and user studies are discussed. 2018-06-05T14:00:10Z 2018-06-05T14:00:10Z 2013-08 2018-04-10T17:55:56Z Article http://purl.org/eprint/type/ConferencePaper 978-1-62410-388-9 http://hdl.handle.net/1721.1/116084 Lasota, Przemyslaw, Stefanos Nikolaidis, and Julie A. Shah. “Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space.” AIAA Infotech@Aerospace (I@A) Conference (August 15, 2013). https://orcid.org/0000-0002-1761-221X https://orcid.org/0000-0003-1338-8107 http://dx.doi.org/10.2514/6.2013-4806 AIAA Infotech@Aerospace (I@A) Conference Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf American Institute of Aeronautics and Astronautics (AIAA) MIT Web Domain |
| spellingShingle | Lasota, Przemyslaw Andrzej Nikolaidis, Stefanos Shah, Julie A Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title | Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title_full | Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title_fullStr | Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title_full_unstemmed | Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title_short | Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space |
| title_sort | developing an adaptive robotic assistant for close proximity human robot collaboration in space |
| url | http://hdl.handle.net/1721.1/116084 https://orcid.org/0000-0002-1761-221X https://orcid.org/0000-0003-1338-8107 |
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