Me and You Together: A Study on Collaboration in Manipulation Tasks

This paper presents an ongoing study in the area of Human-Robot Collaboration, more precisely collaborative manipulation tasks between one robot and multiple people. We study how different trajectories influence people’s perception of the robot’s goal. To achieve this, we propose an approach based on Probabilistic Motor Primitives and the notion of legibility and predictability of trajectories to create the movements the robot performs during task execution. In this approach we also propose combining of legible and predictable trajectories depending on the state of the task in order to diminish the drawbacks associated with each type of trajectory.