MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space

Author(s)
Lasota, Przemyslaw Andrzej; Nikolaidis, Stefanos; Shah, Julie A
Thumbnail
DownloadLasota_Nikol_Shah_Infotech2013.pdf (466.6Kb)
OPEN_ACCESS_POLICY

Open Access Policy

Creative Commons Attribution-Noncommercial-Share Alike

Terms of use
Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
Metadata
Show full item record
Abstract
In this paper, we present a framework for an adaptive and risk-aware robot motion planning and control, and discuss how such a framework could handle uncertainty in human workers' actions and robot localization. We build on our prior investigation, where we describe how uncertainty in human actions can be modeled using the entropy rate in a Markov Decision Process. We then describe how we can incorporate this model of uncertainty into simulations of a simple collaborative system, involving one human worker and one robotic assistant, to produce risk-aware robot motions. Next, we highlight the diffculties associated with localization uncertainty in a space environment and describe how we can incorporate this uncertainty into an adaptive system as well. Expected advantages of an adaptive system are described, including increases in overall effciency due to reductions in idle time, increases in concurrent motion, faster task execution, as well as subjective improvements in the worker's satisfaction with the assistant and reduced worker stress and fatigue. A pilot experiment designed to evaluate the benefits of introducing risk-aware motion planning is described. It is found that human-robot teams in which the robot utilizes risk-aware motion planning show on average 24% more concurrent motion and execute the task 13% faster, while simultaneously improving safety by having a 19.9% larger mean separation distance between the human and robot workers. Finally, possible future system developments and user studies are discussed.
Date issued
2013-08
URI
http://hdl.handle.net/1721.1/116084
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Journal
AIAA Infotech@Aerospace (I@A) Conference
Publisher
American Institute of Aeronautics and Astronautics (AIAA)
Citation
Lasota, Przemyslaw, Stefanos Nikolaidis, and Julie A. Shah. “Developing an Adaptive Robotic Assistant for Close Proximity Human-Robot Collaboration in Space.” AIAA Infotech@Aerospace (I@A) Conference (August 15, 2013).
Version: Author's final manuscript
ISBN
978-1-62410-388-9

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.