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MPC For Human-Robot Interaction.pdf

1701.03839v1.pdf
Preview of MPC for Human-Robot Interaction
🔗 Source: sites.utexas.edu
📊 Size: 1.59 MB
📄 Pages: 8 pages
⬇️ Downloads: 24

Summary

Key points include:

- Motivation: Two scenarios are presented - an assistive robot maximizing productivity while minimizing human workload, and a humanoid robot managing eye contact to maximize connection and minimize awkwardness.
- Methodology: The authors model HRI scenarios as linear dynamical systems and use MPC to find control policies that minimize a specified cost function. They incorporate mixed integer constraints to handle boolean variables and if-then statements.
- Results: Simulations show the robot generating useful behaviors. In a human study with 48 participants, the humanoid generated 25% more eye contact when told to maximize connection, but there was no statistical difference in perceived connection by participants.
- Related Work: Previous uses of MIP include spacecraft trajectory planning and manipulator path generation. In HRI, MPC has been used to control human walking behavior. Other works model HRI and generate behaviors using belief models, probabilistic methods, and planning algorithms.
- Contribution: The paper explores MPC as a tool for creating cognitive feedback controllers in HRI, demonstrating its potential with two scenarios and a human study.

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Description

Researchers model HRI as linear systems, using MPC to create human-aware control policies for two scenarios: an assistive robot optimizing productivity and workload, and a humanoid robot managing eye contact for social connection.

Technical Information

  • File Format: PDF
  • File Size: 1.59 MB
  • Pages: 8
  • Language: EN
  • Total Downloads: 24
  • Last Updated: 4 days ago

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