论文标题
人类机器人在微重力方面的合作：对象切换问题
Human-Robot Collaboration in Microgravity: the Object Handover Problem
论文作者
论文摘要
协作空间机器人是一项具有高影响力的新兴技术，随着机器人与在冗长的任务期间，在紧密的操作计划下，风险和成本较小的宇航员合作促进了服务功能，使其更有效，更加可行。但是，关于人类机器人互动中关键问题的人类机器人合作仍然是一个挑战，包括在微重力环境下对物体进行合作操纵。在本文中，我们制定了一种算法，该算法能够在微重力环境中执行配备操纵器的自由飞行机器人，能够在人和自由飞行机器人之间进行对象移交。为了验证和评估该算法，我们提出了一项系统的用户研究，其目的是了解互动过程中刚性和兼容的阻抗机器人行为的主观结果效应。结果表明，刚性行为总体上更可取，并且在任务过程中登记了更高的转移成功。
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk and costs, making them more efficient and economically more viable. However, human-robot collaboration in space is still a challenge concerning key issues in human-robot interaction, including mobility and collaborative manipulation of objects on a microgravity environment. In this paper we formulate an algorithm that enables a free-flyer robot, equipped with a manipulator, to perform an object handover between a human and a free-flyer robot, in a microgravity environment. To validate and evaluate this algorithm, we present a systematic user study with the goal of understanding the subjective outcome effects of a rigid and compliant impedance robot behavior during the interaction. The results showed that the rigid behavior was overall more preferable and registered higher transfer success during the tasks.
