Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and Execution

Tuly Hazbar; Shitij Kumar; Ferat Sahin

Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and Execution

Robotics 2019-06-03 v2 Multiagent Systems

Authors: Tuly Hazbar , Shitij Kumar , Ferat Sahin

Abstract

In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot collaboration scenario. The testbed integrates elements that exist in the physical and virtual world. In this work, we report the insights we gathered throughout our exploration in understanding and implementing task planning and execution for human-robot team.

Keywords

teleoperation robotics simulation

Cite

@article{arxiv.1905.00199,
  title  = {Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and Execution},
  author = {Tuly Hazbar and Shitij Kumar and Ferat Sahin},
  journal= {arXiv preprint arXiv:1905.00199},
  year   = {2019}
}

Comments

(Draft V1)Submitted to Systems Man and Cybernetics SMC 2019 Corrected typos

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