NDLI: Legibility and predictability of robot motion

Content Provider	IEEE Xplore Digital Library
Author	Dragan, A.D. Lee, K.C.T. Srinivasa, S.S.
Copyright Year	2013
Abstract	A key requirement for seamless human-robot collaboration is for the robot to make its intentions clear to its human collaborator. A collaborative robot's motion must be legible, or intent-expressive. Legibility is often described in the literature as and effect of predictable, unsurprising, or expected motion. Our central insight is that predictability and legibility are fundamentally different and often contradictory properties of motion. We develop a formalism to mathematically define and distinguish predictability and legibility of motion. We formalize the two based on inferences between trajectories and goals in opposing directions, drawing the analogy to action interpretation in psychology. We then propose mathematical models for these inferences based on optimizing cost, drawing the analogy to the principle of rational action. Our experiments validate our formalism's prediction that predictability and legibility can contradict, and provide support for our models. Our findings indicate that for robots to seamlessly collaborate with humans, they must change the way they plan their motion.
Sponsorship	IEEE Robotics Autom. Soc.
Starting Page	301
Ending Page	308
File Size	3438686
Page Count	8
File Format	PDF
ISBN	9781467330992
ISSN	21672121
e-ISBN	9781467331012
e-ISBN	9781467331005
DOI	10.1109/HRI.2013.6483603
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Motion planning Collaboration Manipulation Action interpretation Observers Trajectory IP networks Human-robot collaboration Formalism Trajectory optimization Videos
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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