Haptic Role Exchange and Negotiation for Human-Robot Interaction
Cagatay Basdogan, Ph.D.
Robotics and Mechatronics Laboratory (http://rml.ku.edu.tr/)
Koc University, Istanbul, 34450
Even though robots can be programmed to share control with human operators in order to increase task performance, the interaction in such systems is still artificial when compared to natural human-human cooperation. In complex tasks, cooperating human partners may have their own agendas and take initiatives during the task. Such initiatives contribute to a richer interaction between cooperating parties, yet little research exists on how this can be established between a human and a robot. In a cooperation involving haptics, the coupling between the human and the robot should be defined such that the robot can understand the intentions of the human operator and respond accordingly. In this regard, we suggest (1) a role exchange mechanism that is activated based on the magnitude of the force applied by the cooperating parties and (2) a negotiation model that enables more human-like coupling between the cooperating parties. We argue that when presented through the haptic channel, the proposed role exchange mechanism and the negotiation model serve to communicate the cooperating parties dynamically, naturally, and seamlessly, in addition to improving the task efficiency of the user.
Biography: Dr. Basdogan is a member of faculty in College of Engineering at Koc University since 2002. Before joining to Koc University, he was a senior member of technical staff at Information and Computer Science Division of NASA-Jet Propulsion Laboratory of California Institute of Technology from 1999 to 2002. He moved to JPL from Massachusetts Institute of Technology where he was a research scientist and principal investigator at MIT Research Laboratory of Electronics and a member of the MIT Touch Lab from 1996 to 1999. He received his Ph.D. degree from Southern Methodist University in 1994 and worked with Musculographics Inc. at Northwestern University Research Park for two years before moving to MIT. Dr. Basdogan conducts research and development in the areas of human-machine interfaces, control systems, mechatronics, biomechanics, computer graphics, and virtual reality technology.