Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration

@article{Huang2022SeamlessID,
  title={Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration},
  author={Zhe Huang and Ye-Ji Mun and Xiang Li and Yiqing Xie and Ninghan Zhong and Weihang Liang and Junyi Geng and Tan Chen and K. Driggs-Campbell},
  journal={ArXiv},
  year={2022},
  volume={abs/2206.01775}
}
—A robot needs multiple interaction modes to ro- bustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human- robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and… 
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