Active interaction strategy generation for human-robot collaboration based on trust.

IF 6 4区 计算机科学 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Yujie Guo, Pengfei Yi, Xiaopeng Wei, Dongsheng Zhou
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引用次数: 0

Abstract

In human-robot collaborative tasks, human trust in robots can reduce resistance to them, thereby increasing the success rate of task execution. However, most existing studies have focused on improving the success rate of human-robot collaboration (HRC) rather than on enhancing collaboration efficiency. To improve the overall collaboration efficiency while maintaining a high success rate, this study proposes an active interaction strategy generation for HRC based on trust. First, a trust-based optimal robot strategy generation method was proposed to generate the robot's optimal strategy in a HRC. This method employs a tree to model the HRC process under different robot strategies and calculates the optimal strategy based on the modeling results for the robot to execute. Second, the robot's performance was evaluated to calculate human's trust in a robot. A robot performance evaluation method based on a visual language model was also proposed. The evaluation results were input into the trust model to compute human's current trust. Finally, each time an object operation was completed, the robot's performance evaluation and optimal strategy generation methods worked together to automatically generate the optimal strategy of the robot for the next step until the entire collaborative task was completed. The experimental results demonstrates that this method significantly improve collaborative efficiency, achieving a high success rate in HRC.

基于信任的人机协作主动交互策略生成。
在人机协作任务中,人类对机器人的信任可以减少对机器人的阻力,从而提高任务执行的成功率。然而,现有的研究大多侧重于提高人机协作的成功率(HRC),而不是提高协作效率。为了在保持高成功率的同时提高整体协作效率,本研究提出了一种基于信任的HRC主动交互策略生成。首先,提出了一种基于信任的机器人最优策略生成方法,用于生成HRC中机器人的最优策略。该方法采用树状模型对不同机器人策略下的HRC过程进行建模,并根据建模结果计算出机器人执行的最优策略。其次,评估机器人的性能,计算人类对机器人的信任程度。提出了一种基于视觉语言模型的机器人性能评价方法。将评价结果输入到信任模型中,计算人的当前信任。最后,每次完成一个目标操作,机器人的性能评估方法和最优策略生成方法共同作用,自动生成下一步机器人的最优策略,直到整个协同任务完成。实验结果表明,该方法显著提高了协同效率,在HRC中实现了较高的成功率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
5.60
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0.00%
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