Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm and Achim J. Lilienthal
Accessing your navigation plans! Human Robot Intention Transfer using Eye Tracking Glasses
Proceedings of the 16th International Conference on Manufacturing Research (ICMR) 2018
Abstract
Robots in human co-habited environments need human-aware task and motion planning, ideally responding to people’s motion intentions as soon as they can be inferred from human cues. Eye gaze can convey information about intentions beyond trajectory and head pose of a person. Hence, we propose eye-tracking glasses as safety equipment in industrial environments shared by humans and robots. This paper investigates the possibility of human-to-robot implicit intention transference solely from eye gaze data. We present experiments in which humans wearing eye-tracking glasses encountered a small forklift truck under various conditions. We evaluate how the observed eye gaze patterns of the participants related to their navigation decisions. Our analysis shows that people primarily gazed on that side of the robot they ultimately decided to pass by. We discuss implications of these results and relate to a control approach that uses human eye gaze for early obstacle avoidance.
@inproceedings{Chadalavada1270176},
author = {Chadalavada, Ravi Teja and Andreasson, Henrik and Schindler, Maike and Palm, Rainer and Lilienthal, Achim},
booktitle = {Advances in Manufacturing Technology XXXII: Proceedings of the 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, September 11–13, 2018, University of Skövde, Sweden},
institution = {Örebro University, School of Science and Technology},
pages = {253--258},
title = {Accessing your navigation plans! Human-Robot Intention Transfer using Eye-Tracking Glasses},
series = {Advances in Transdisciplinary Engineering},
number = {8},
DOI = {10.3233/978-1-61499-902-7-253},
keywords = {Human-Robot Interaction (HRI), Eye-tracking, Eye-Tracking Glasses, Navigation Intent, Implicit Intention Transference, Obstacle avoidance.},
ISBN = {978-1-61499-901-0},
ISBN = {978-1-61499-902-7},
year = {2018},
}