In this chapter we show how the proposed movement planning system was used in more complex human-robot interaction scenarios where the robot must perform other goal-directed sequences and communicative gestures, such as pointing, that represent relevant complementary behaviors (represented in the AEL) for the robot, when engaged in joint action with a human.
We present the results in scenarios where human and robot collaborate in the construction of a toy vehicle and also an interaction scenario where the robot helps a human user in a simple daily task.
Human-robot collaboration in the construction of a toy vehicle
Scenario 1
ARoS assisting a human in a daily task
Human-robot joint action scenario.The task for the team is to jointly assemble a toy vehicle (for details see (Bicho et al., 2011)). Here we show a particular sequence in which ARoS has the intention to attach a wheel on the axle on its side. Since there is no wheel in its workspace, ARoS starts by requesting it from the human partner.
Scenario 2
Part 1 - With the intention of helping the human to remove the stopper, ARoS reaches and grasps the closed bottle and holds it until it is open. Next, ARoS transports the bottle to a location in its workspace and returns home.
Part 2 - ARoS reaches and grasps the glass with and inverted side grip, inverts and places it on the table.
Part3 - ARoS pours juice on the empty glass.
Before initiating the construction of the toy vehicle, ARoS removes the nut that has been incorrectly inserted on the base floor and places it on the table in its workspace.This motor action is constituted of three movements:
(1) Reach and grasp the nut inserted on the base floor;
(2) Remove the nut from the base floor and place it on the table;
(3) Return to the home position.
Next, ARoS infers that the human is going to insert the wheel on his/her side of the base. So that the human may end his/her first sub-tasks, and since there are not any nuts on the humans workspace, ARoS decides to reach and grasp one of the nuts in its workspace and hands it over to the human. In order to help the human inserting the nut, ARoS holds the base floor while the human inserts the nut, completing his/her first sub-task. This sequence of motor primitives is constituted of four movements:
(1) Reach and grasp nut from the table;
(2) Hand over the nut to the human;
(3) Hold the base floor;
(4) Return to the home position.