“Grip-that-there”：人机协作中的显式和隐式任务分配技术研究
"Grip-that-there": An Investigation of Explicit and Implicit Task Allocation Techniques for Human-Robot Collaboration
摘要：
在ad-hoc人机协作（HRC）中，人类和机器人在执行任务之前不预先规划机器人的动作;相反，任务分配实时发生。然而，以前的研究主要集中在预先计划的任务分配-没有一个全面的探索或评估的技术，任务分配是实时调整。受HCI领域性和语义学研究的启发，我们提出了一个新的任务分配技术的设计空间，包括显式技术，用户保持代理，和隐式技术，自动化的效率可以被利用。该技术的实施和评估使用桌面HRC模拟VR。一项16名参与者的研究，提出了一个协作块堆叠任务的变化，表明隐式技术，使有效的任务完成和任务并行化，并应增加明确的机制，为用户提供细粒度的控制。
英文摘要：
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task allocations that are pre-planned - there has not been a comprehensive exploration or evaluation of techniques where task allocation is adjusted in real-time. Inspired by HCI research on territoriality and proxemics, we propose a design space of novel task allocation techniques including both explicit techniques, where the user maintains agency, and implicit techniques, where the efficiency of automation can be leveraged. The techniques were implemented and evaluated using a tabletop HRC simulation in VR. A 16-participant study, which presented variations of a collaborative block stacking task, showed that implicit techniques enable efficient task completion and task parallelization, and should be augmented with explicit mechanisms to provide users with fine-grained control.
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