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Crafing with a robot assistant: Use social cues to inform adaptive handovers in human-robot collaboration
conference contributionposted on 2023-08-25, 05:16 authored by L Tian, K He, S Xu, Akan CosgunAkan Cosgun, D Kulić
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities) and painting (creative activities). We collect quantitative and qualitative data from 20 participants in a Wizard-of-Oz study, generating the Functional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRC dataset), available to the research community. This work illustrates how social cues and task context inform the temporal-spatial coordination in human-robot handovers, and how human-robot collaboration is shaped by and in turn infuences people's functional and creative activities.