Adapting robot task planning to user preferences: an assistive shoe dressing example
Rights accessOpen Access
European Commisision's projectHUMOUR - HUman behavioral Modeling for enhancing learning by Optimizing hUman-Robot interaction (EC-FP7-231724)
Healthcare robots will be the next big advance in humans’ domestic welfare, with robots able to assist elderly people and users with disabilities. However, each user has his/her own preferences, needs and abilities. Therefore, robotic assistants will need to adapt to them, behaving accordingly. Towards this goal, we propose a method to perform behavior adaptation to the user preferences, using symbolic task planning. A user model is built from the user’s answers to simple questions with a fuzzy inference system, and it is then integrated into the planning domain. We describe an adaptation method based on both the user satisfaction and the execution outcome, depending on which penalizations are applied to the planner’s rules. We demonstrate the application of the adaptation method in a simple shoe-fitting scenario, with experiments performed in a simulated user environment. The results show quick behavior adaptation, even when the user behavior changes, as well as robustness to wrong inference of the initial user model. Finally, some insights in a non-simulated world shoe-fitting setup are also provided.
The final publication is available at link.springer.com
CitationCanal, G.; Alenyà, G.; Torras, C. Adapting robot task planning to user preferences: an assistive shoe dressing example. "Autonomous robots", 1 Agost 2019, vol. 43, núm. 3, p. 1343-1356.