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Evaluating Intent-Expressive Robot Arm Motion

Christopher Bodden, Daniel Rakita, Bilge Mutlu, Michael Gleicher
International Symposium on Robot and Human Interactive Communication — aug 2016
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    Planning effective arm motions is integral to manipulation tasks. In general, motion synthesis methods have focused on functional objectives, such as minimizing time and maximizing efficiency. However, recent work in humanrobot collaboration suggests that choices in motion design can influence collaboration performance and quality. Some motion designs are easier than others for human observers to interpret. In this paper, we explore the tradeoffs in robot arm movements designed to be observed by people. Through a series of humansubjects experiments, we compare collaboration performance between several motion-synthesis methods explored by prior work. We find that a number of factors, including the design of the robot arm and metric for success, affect the relative merits of different approaches.

    BibTex references

      author       = "Bodden, Christopher and Rakita, Daniel and Mutlu, Bilge and Gleicher, Michael",
      title        = "Evaluating Intent-Expressive Robot Arm Motion",
      booktitle    = "International Symposium on Robot and Human Interactive Communication",
      month        = "aug",
      year         = "2016",
      publisher    = "IEEE",
      url          = "http://graphics.cs.wisc.edu/Papers/2016/BRMG16"

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