Designing Robot Behavior in Human-Robot Interactions

<p>In this book we have set up a unified analytical framework for various human-robot systems which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control planning decision and learning is proposed. In particular the following topics are discussed in-depth: <i>safety </i>during human-robot interactions <i>efficiency</i> in real-time robot motion planning<i> imitation</i> of human behaviors from demonstration <i>dexterity</i> of robots to adapt to different environments and tasks <i>cooperation</i> among robots and humans with conflict resolution. These methods are applied in various scenarios such as human-robot collaborative assembly robot skill learning from human demonstration interaction between autonomous and human-driven vehicles etc.</p><p><strong>Key Features:</strong></p><ul> <li>Proposes a unified framework to model and analyze human-robot interactions under different modes of interactions.</li> <li>Systematically discusses the control decision and learning algorithms to enable robots to interact safely with humans in a variety of applications.</li> <li>Presents numerous experimental studies with both industrial collaborative robot arms and autonomous vehicles.</li> </ul>