Controller Design for Human-Robot Interaction Eric Meisner Volkan Isler Jeff Trinkle Many robotics tasks require a robot to share the same workspace with humans. In such settings, it is important that the robot performs in such a way that does not cause distress to humans in the workspace. In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task. We present a novel, data-driven algorithm which computes human-friendly trajectories. The algorithm utilizes biofeedback measurements and combines a set of geometric controllers to achieve human friendliness. We evaluate the comfort level of the human using a Galvanic Skin Response (GSR) sensor. We present results from a human tracking task, in which the robot is required to stay within a specified distance without causing high stress values. Department of Computer Science, Rensselaer Polytechnic Institute 09/13/2007 cs-07-10
Controller Design for Human-Robot Interaction
Eric Meisner
Volkan Isler
Jeff Trinkle
Many robotics tasks require a robot to share the same workspace with humans. In such settings, it is important that the robot performs in such a way that does not cause distress to humans in the workspace. In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task. We present a novel, data-driven algorithm which computes human-friendly trajectories. The algorithm utilizes biofeedback measurements and combines a set of geometric controllers to achieve human friendliness. We evaluate the comfort level of the human using a Galvanic Skin Response (GSR) sensor. We present results from a human tracking task, in which the robot is required to stay within a specified distance without causing high stress values.
Department of Computer Science, Rensselaer Polytechnic Institute
09/13/2007
cs-07-10