Robot Trust and Self-Confidence Based Role Arbitration Method for Physical Human-Robot Collaboration
- Publisher:
- IEEE
- Publication Type:
- Conference Proceeding
- Citation:
- 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, 2023-May, pp. 9896-9902
- Issue Date:
- 2023-01-01
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| Robot_Trust_and_Self-Confidence_Based_Role_Arbitration_Method_for_Physical_Human-Robot_Collaboration.pdf | Published version | 2 MB |
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Role arbitration in human-robot collaboration (HRC) is a dynamically changing process that is affected by many factors such as physical workload, environmental changes and trust. In order to address this dynamic process, a trust-based role arbitration method is studied in this research. A computational model of robot trust and self-confidence (TSC) in physical human-robot collaboration (pHRC) is proposed. The TSC model is defined as a function of objective robot and human co-worker performance. A role arbitration method is then proposed based on the TSC model presented. The human-in-the-loop experiments with a collaborative robot are conducted to verify the TSC-based role arbitration method. The results show that the proposed method could achieve superior human-robot combined performance, reduce human co-workers' workload, and improve subjective preference.
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