A framework for task-based evaluation of robotic coworkers

Carmichael, MG; Moutrie, B; Liu, D

A framework for task-based evaluation of robotic coworkers

Carmichael, MG

Moutrie, B Liu, D

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Publication Type:: Conference Proceeding
Citation:: 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, 2014, pp. 1362 - 1367
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Moutrie, B	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, 2014, pp. 1362 - 1367	en_US
dc.identifier.isbn	9781479951994	en_US
dc.identifier.uri	http://hdl.handle.net/10453/33572
dc.description.abstract	© 2014 IEEE. Compared to a robotic system that performs a task alone, a robot coworker performing tasks in collaboration with a human operator is subject to additional constraints which can limit the ability of the system to perform the task as required. This work presents a framework for analyzing the ability of a robotic coworker to perform specific tasks in collaboration with a human. The framework allows systematic evaluation of robotic systems based on traditional robot performance measures such as reachable workspace and payload capacity, as well as considering additional factors which arise due to the task being performed collaboratively with a human; such as the reach and strength of the human, human-robot collision, and satisfying desired assistance paradigms. Application of the framework is demonstrated in a case study analyzing a robot designed to assist a human during a materials handling task.	en_US
dc.relation.ispartof	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014	en_US
dc.relation.isbasedon	10.1109/ICARCV.2014.7064514	en_US
dc.title	A framework for task-based evaluation of robotic coworkers	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Singapore
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

© 2014 IEEE. Compared to a robotic system that performs a task alone, a robot coworker performing tasks in collaboration with a human operator is subject to additional constraints which can limit the ability of the system to perform the task as required. This work presents a framework for analyzing the ability of a robotic coworker to perform specific tasks in collaboration with a human. The framework allows systematic evaluation of robotic systems based on traditional robot performance measures such as reachable workspace and payload capacity, as well as considering additional factors which arise due to the task being performed collaboratively with a human; such as the reach and strength of the human, human-robot collision, and satisfying desired assistance paradigms. Application of the framework is demonstrated in a case study analyzing a robot designed to assist a human during a materials handling task.

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http://hdl.handle.net/10453/33572