Human-robot cooperation in arrangement of objects using confidence measure of neuro-dynamical system

Hiromitsu Awano, Tetsuya Ogata, Shun Nishide, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The objective of our study was to develop dynamic collaboration between a human and a robot. Most conventional studies have created pre-designed rule-based collaboration systems to determine the timing and behavior of robots to participate in tasks. Our aim is to introduce the confidence of the task as a criterion for robots to determine their timing and behavior. In this paper, we report the effectiveness of applying reproduction accuracy as a measure for quantitatively evaluating confidence in an object arrangement task. Our method is comprised of three phases. First, we obtain human-robot interaction data through the Wizard of OZ method. Second, the obtained data are trained using a neuro-dynamical system, namely, the Multiple Time-scales Recurrent Neural Network (MTRNN). Finally, the prediction error in MTRNN is applied as a confidence measure to determine the robot's behavior. The robot participated in the task when its confidence was high, while it just observed when its confidence was low. Training data were acquired using an actual robot platform, Hiro. The method was evaluated using a robot simulator. The results revealed that motion trajectories could be precisely reproduced with a high degree of confidence, demonstrating the effectiveness of the method.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Pages2533-2538
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 - Istanbul, Turkey
Duration: 2010 Oct 102010 Oct 13

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Other

Other2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
CountryTurkey
CityIstanbul
Period10/10/1010/10/13

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Keywords

  • Confidence measure
  • Human robot cooperation
  • Prediction
  • Recurrent neural network
  • Wizard of Oz

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

Cite this

Awano, H., Ogata, T., Nishide, S., Takahashi, T., Komatani, K., & Okuno, H. G. (2010). Human-robot cooperation in arrangement of objects using confidence measure of neuro-dynamical system. In 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 (pp. 2533-2538). [5641924] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/ICSMC.2010.5641924