Reacting on human stubbornness in human-machine trajectory planning
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916335098789888 |
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| author | Schneider, Julian Straky, Niels Meyer, Simon Varga, Balint Hohmann, Sören |
| author_facet | Schneider, Julian Straky, Niels Meyer, Simon Varga, Balint Hohmann, Sören |
| contents | In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human adheres to his preferred trajectory. Accordingly, a static model is introduced indicating a link between the force in haptically coupled human-robot interactions and humans's stubbornness. The introduced stubbornness parameter enables an application-independent reaction of the automation for the cooperative trajectory planning. Simulation results in the context of human-machine cooperation in a care application show that the proposed behavioral model can quantitatively estimate the stubbornness of the interacting human, enabling a more targeted adaptation of the automation to the human behavior. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_17275 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Reacting on human stubbornness in human-machine trajectory planning Schneider, Julian Straky, Niels Meyer, Simon Varga, Balint Hohmann, Sören Robotics Systems and Control In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human adheres to his preferred trajectory. Accordingly, a static model is introduced indicating a link between the force in haptically coupled human-robot interactions and humans's stubbornness. The introduced stubbornness parameter enables an application-independent reaction of the automation for the cooperative trajectory planning. Simulation results in the context of human-machine cooperation in a care application show that the proposed behavioral model can quantitatively estimate the stubbornness of the interacting human, enabling a more targeted adaptation of the automation to the human behavior. |
| title | Reacting on human stubbornness in human-machine trajectory planning |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2407.17275 |