Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots

摘要

SUMMARY Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In a previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on acceptable performance levels, taking into account any false alarms in human robot interactions. Task complexity is a key parameter that directly impacts the robot performance as well as the false alarms occurrences. In this paper, we validate the extended neglect tolerance model for two robot tasks of varying complexity levels. We also present the impact of task complexity on robot performance estimations and false alarms demands. Experiments were performed with real and virtual humanoid soccer robots across tele-operated and semi-autonomous modes of autonomy. Measured false alarm demand and robot performances were largely consistent with the extended neglect tolerance model predictions for both real and virtual robot experiments. Experiments also showed that the task complexity is directly proportional to false alarm demands and inversely proportional to robot performance.