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Proactive premature-intention estimation for intuitive human robot collaboration
Muhammad Awais , Dominik Henrich

Abstract (english)
For effective collaboration between two humans, they are required to adapt to each other according to their apparent behavior in the real time. Similarly for intuitive humanrobot
collaboration the robot is required to adapt to the human intention, apparent from his behavior. In this paper, we introduce a probability based approach that helps the robot to
adapt to the human behavior and to react proactively in the intermixed human intentions scenarios. The robot can either wait for disambiguation of the intention, requiring extra human actions or he can proactively react depending on his previous knowledge about the human behavior. The adaptive proactivity is achieved with the help of local transition weights for transitions between the neighbouring states in a finite state machine. These
finite state machines model the human intentions. We also introduce the update of the intention recognition triggers for the intentions. The online intention-trigger update corresponds to the online selection of the specific state of a finite state machine as the
end state of the finite state machine. The online update of the intention-triggers makes the robot more proactive in the direction of premature intention estimation. Thus the local transition weights and premature intention estimation makes the human robot collaboration more intuitive.

Publication data

Year: 2012
Publication date: 12. September 2012
Editor: awais2012a
Source: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 7-12, 2012


  TITLE             = "Proactive premature-intention estimation for intuitive human robot collaboration",
  AUTHOR            = "Awais, Muhammad and Henrich, Dominik",
  YEAR              = "2012",
  EDITOR            = "awais2012a",
  JOURNAL           = "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),  October 7-12, 2012",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
awais0a.Proactive.prematureintention.estimation.for.intuitive.human.robot.collaboration.pdf   264.6K   english   PDF   download preprint

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