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Experimental Robotics pp 293–306Cite as

On Planning and Task Achievement Modalities for Human-Robot Collaboration

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

In this paper we present a robot supervision system designed to be able to execute collaborative tasks with humans in a flexible and robust way. Our system is designed to take into account the different preferences of the human partners, providing three operation modalities to interact with them. The robot is able to assume a leader role, planning and monitoring the execution of the task for itself and the human, to act as assistent of the human partner, following his orders, and also to adapt its plans to the human actions. We present several experiments that show that the robot can execute collaborative tasks with humans.

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Notes

  1. 1.

    Videos from our experiments can be seen at http://homepages.laas.fr/mfiore/iser2014.html.

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Acknowledgments

This work was conducted within the EU SAPHARI project (www.saphari.eu) funded by the E.C. division FP7-IST under contract ICT-287513.

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Authors and Affiliations

  1. CNRS, LAAS, 7 Avenue du Colonel Roche, 31400, Toulouse, France

    Michelangelo Fiore, Aurélie Clodic & Rachid Alami

  2. INSA, LAAS, Univ de Toulouse, 31400, Toulouse, France

    Michelangelo Fiore

Authors
  1. Michelangelo Fiore
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  2. Aurélie Clodic
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  3. Rachid Alami
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Corresponding author

Correspondence to Michelangelo Fiore .

Editor information

Editors and Affiliations

  1. Drexel University, Philadelphia, Pennsylvania, USA

    M. Ani Hsieh

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

  3. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    Vijay Kumar

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Fiore, M., Clodic, A., Alami, R. (2016). On Planning and Task Achievement Modalities for Human-Robot Collaboration. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_20

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  • DOI: https://doi.org/10.1007/978-3-319-23778-7_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

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