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dc.contributor.authorCanal Camprodon, Gerard
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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.
dc.descriptionThe final publication is available at
dc.description.abstractHealthcare 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.
dc.format.extent14 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherPlanning with preferences
dc.subject.otherBehavior adaptation
dc.subject.otherTask personalization
dc.subject.otherShoe fitting
dc.titleAdapting robot task planning to user preferences: an assistive shoe dressing example
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/231724/EU/HUman behavioral Modeling for enhancing learning by Optimizing hUman-Robot interaction/HUMOUR
local.citation.authorCanal, G.; Alenyà, G.; Torras, C.
local.citation.publicationNameAutonomous robots

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