Publication trimestrielle du Laboratoire
d'analyse et d'architecture des systèmes du CNRS
Human Robot Interaction is entering into the interesting phase where the relationship with arobot is envisioned more as one of companionship with the human partner than a mere master-slave relationship. For this to become a reality, the robot needs to understand human behaviorand not only react appropriately but also be socially proactive. A Companion Robot will alsoneed to collaborate with the human in their daily life and require a reasoning mechanism tohandle ambiguity surrounding human engagement and their intention to collaborate. In thiswork, we will identify key elements of such interaction in the context of a collaborative jointtasks, with special focus on how the human successfully collaborate to achieve a joint action.We will the show application of these elements in a robotic system to enrich its social humanrobot interaction aspect of decision making. In this respect, we provide a contribution tothe managing robot high-level goals and proactive behavior and a description of a coactivitydecision model for collaborative human robot task. Also, a HRI user study demonstratesthe importance of timing a verbal communication in a proactive human robot physical jointaction.