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arXiv · 2301.02938

Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration

Leimin Tian·Kerry He·Shiyu Xu·Akansel Cosgun·Dana Kulić
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Abstract

We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities) and painting (creative activities). We collect quantitative and qualitative data from 20 participants in a Wizard-of-Oz study, generating the Functional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRC dataset), available to the research community. This work illustrates how social cues and task context inform the temporal-spatial coordination in human-robot handovers, and how human-robot collaboration is shaped by and in turn influences people's functional and creative activities.

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Leimin Tian, Kerry He, Shiyu Xu, Akansel Cosgun, Dana Kulić. 2023-01-07. Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration. https://arxiv.org/abs/2301.02938

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