Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration

We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities) and painting (creative activities). We collect quantitative and qualitative data from 20 participants in a Wizard-of-Oz study, generating the Functional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRC dataset), available to the research community. This work illustrates how social cues and task context Figure 1: Experimental space layout: the participant and inform the temporal-spatial coordination in human-robot the experimenter sat at the work space and storage space, handovers, and how human-robot collaboration is shaped by and respectively. The Fetch robot moves in between to pass in turn influences people's functional and creative activities.