Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and Execution
This work addresses the problem of enabling human-robot teams to work together in shared workspaces, but it is incremental as it focuses on testbed creation and preliminary insights rather than novel solutions.
The authors developed a cyber-physical testbed for human-robot collaboration in tabletop manipulation tasks, reporting insights from implementing task planning and execution without providing specific performance metrics.
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.