核心概念
This paper introduces CoHRT, a novel system designed to facilitate multi-human-robot teamwork in shared workspaces by enabling seamless collaboration, coordination, and communication through a server-client architecture, vision-based tracking, and a user-friendly interface.
要約
This research paper introduces CoHRT (Collaboration System for Human-Robot Teamwork), a novel system designed to facilitate multi-human-robot teamwork.
Problem and Motivation
Existing human-robot collaboration systems often focus on dyadic interactions (one human, one robot), neglecting the complexities of larger teams. They also frequently rely on virtual simulations, overlooking the impact of a robot's physical presence, and utilize turn-based tasks that hinder simultaneous execution and efficiency.
CoHRT System Overview
CoHRT addresses these limitations by enabling multi-human-robot teamwork through:
- Server-Client Architecture: A central server coordinates communication and task allocation between multiple human clients and robots.
- Vision-Based Tracking: A vision system tracks the environment and team actions, enabling real-time monitoring and adaptation.
- User-Friendly Interface: A simple interface facilitates action coordination and communication among team members.
- Task Design Flexibility: CoHRT allows for tasks that accommodate varying skill levels and constraints across team members.
System Implementation and Evaluation
The researchers demonstrate CoHRT's capabilities through a collaborative task involving one Franka Emika Panda robot and two human participants. The task combines jigsaw puzzle solving (mental workload) and block stacking (physical workload) to simulate real-world scenarios. The evaluation plan includes metrics for team fluency, task performance, and user experience, utilizing both quantitative data and qualitative feedback.
Extensibility and Future Work
CoHRT is designed for extensibility to:
- Larger Teams: The system can be scaled to include more human participants and robots.
- Diverse Task Domains: CoHRT can be adapted to various collaborative tasks beyond the presented example.
- Heterogeneous Robots: The system can integrate robots with different capabilities, such as mobile manipulators.
Future research directions include:
- Investigating the impact of robot collaboration strategies on human perceptions of fairness, trust, and safety.
- Developing personalized and adaptive robot strategies based on teammate capabilities.
- Open-sourcing CoHRT to benefit the broader research community.
Significance
CoHRT represents a significant advancement in human-robot collaboration research by addressing limitations of existing systems and offering a versatile platform for studying team dynamics, trust, and user experience in shared workspaces.