Design of Mixed-Initiative Interactions Between Human and Robot to Realize Shared Autonomies in Teleoperation Environment

摘要

This paper presents a new interaction style for human- and machine-autonomies collaboration in a teleoperating environment. For this purpose, a robot teleoperating system is first analyzed after a judgment analysis method of the generalized Lens model framework proposed by A. Kirlik. Our model can provide a “shared communicational modality” directly accessible from both the operator and the robot's autonomy in perspectives of their perception and action. This modality promotes their mixed-initiative interactions to realize the naturalistic collaboration allowing the operator variability of actions including his/her “epistemic actions”.