Human-robot interactive task managing for fetch-and-carry errands based on abstract scripts

Abstract In order to improve the task performance of service robots, interaction between humans and robots is critical. Existing models for service robots have been based on multiple scripts defining the actions required to carry out tasks. These models have attempted to resolve task decision-making problems through interaction with humans. In addition to interactions for the decision-making model, this paper proposes a system that manages physical actions interactively with humans. A managing model was established by considering major related issues and was implemented with a computer simulator.

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