Generating Legible Motion

• DOI: 10.1184/r1/6554969.v1
• Publication Date: 2013-06-01
• Authors: Anca D. Dragan; Siddhartha S Srin...
• Keywords: Legibility; Observer (physics)

Legible motion --- that communicates its intent to a human observer is crucial for enabling seamless human-robot collaboration. In this paper, we propose functional gradient optimization technique autonomously generating legible motion. Our algorithm optimizes legibility metric inspired by the psychology of action interpretation in humans, resulting trajectories purposefully deviate from what an would expect order better convey intent. A trust region constraint on ensures does not become too surprising or unpredictable observer. studies with novice users evaluate support applicability our method and such region. They show within region, as measured practice significantly increase. Outside it, however, trajectory becomes confusing users' confidence knowing robot's decreases.