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Accessing your navigation plans! Human-Robot Intention Transfer using Eye-Tracking Glasses
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-8380-4113
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-9530-4151
Örebro University, School of Science and Technology. (AASS MRO Lab)
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2018 (English)In: 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 / [ed] Case K. &Thorvald P., Amsterdam, Netherlands: IOS Press, 2018, p. 253-258Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Amsterdam, Netherlands: IOS Press, 2018. p. 253-258
Series
Advances in Transdisciplinary Engineering, ISSN 2352-751X, E-ISSN 2352-7528
Keywords [en]
Human-Robot Interaction (HRI), Eye-tracking, Eye-Tracking Glasses, Navigation Intent, Implicit Intention Transference, Obstacle avoidance.
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-70706DOI: 10.3233/978-1-61499-902-7-253Scopus ID: 2-s2.0-85057390000ISBN: 978-1-61499-901-0 (print)ISBN: 978-1-61499-902-7 (electronic)OAI: oai:DiVA.org:oru-70706DiVA, id: diva2:1270176
Conference
16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, University of Skövde, Sweden, September 11–13, 2018
Projects
Action and Intention Recognition (AIR)ILIADAvailable from: 2018-12-12 Created: 2018-12-12 Last updated: 2018-12-18Bibliographically approved

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Accessing your navigation plans! Human-Robot Intention Transfer using Eye-Tracking Glasses(377 kB)29 downloads
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Chadalavada, Ravi TejaAndreasson, HenrikSchindler, MaikePalm, RainerLilienthal, Achim

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