TY - GEN
T1 - A POMDP-based Robot-Human Trust Model for Human-Robot Collaboration
AU - Tilloo, Pallavi
AU - Parron, Jesse
AU - Obidat, Omar
AU - Zhu, Michelle
AU - Wang, Weitian
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported in part by the National Science Foundation under Grant CNS-2104742 and in part by the National Science Foundation under Grant CNS-2117308.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Trust is a cognitive ability that can be dependent on behavioral consistency. In this paper, a partially observable Markov Decision Process (POMDP)-based computational robot-human trust model is proposed for hand-over tasks in human-robot collaborative contexts. The robot's trust in its human partner is evaluated based on the human behavior estimates and object detection during the hand-over task. The human-robot hand-over process is parameterized as a partially observable Markov Decision Process. The proposed approach is verified in real-world human-robot collaborative tasks. Results show that our approach can be successfully applied to human-robot hand-over tasks to achieve high efficiency, reduce redundant robot movements, and realize predictability and mutual understanding of the task.
AB - Trust is a cognitive ability that can be dependent on behavioral consistency. In this paper, a partially observable Markov Decision Process (POMDP)-based computational robot-human trust model is proposed for hand-over tasks in human-robot collaborative contexts. The robot's trust in its human partner is evaluated based on the human behavior estimates and object detection during the hand-over task. The human-robot hand-over process is parameterized as a partially observable Markov Decision Process. The proposed approach is verified in real-world human-robot collaborative tasks. Results show that our approach can be successfully applied to human-robot hand-over tasks to achieve high efficiency, reduce redundant robot movements, and realize predictability and mutual understanding of the task.
KW - belief probability
KW - human-robot collaboration
KW - POMDP
KW - robotics
KW - trust
UR - http://www.scopus.com/inward/record.url?scp=85141207858&partnerID=8YFLogxK
U2 - 10.1109/CYBER55403.2022.9907660
DO - 10.1109/CYBER55403.2022.9907660
M3 - Conference contribution
AN - SCOPUS:85141207858
T3 - 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022
SP - 1009
EP - 1014
BT - 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022
Y2 - 27 July 2022 through 31 July 2022
ER -