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Affordance-based modeling of a human-robot cooperative system for area exploration

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Abstract

The cooperation of humans and robots is ubiquitous in modern systems, while human ability to cooperate has been limitedly investigated in terms of systems theory. A formal model is proposed to describe the human capability for the cooperation based on the finite state automata (FSA) and the affordances theory. Unlike the previous studies focused on conceptual approaches, real and virtual experiments are conducted to investigate human actions in a cooperative system with a human and a robot. A modeling scheme is provided to implement agent-based simulations for the cooperative system using the proposed affordance-based FSA. The developed simulation for the cooperation problem can reproduce the patterns of the actual experiments in terms of affordances and supervisory capability. The modular architecture of the agent-based framework allows establishing open-ended algorithms for action selections with their isolated effects under physical constraints, which need to be revised to deal with human-involved cooperation problems.

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Acknowledgments

The authors would like to thank Ph.D. Sangho Ha at UNIST for the support in the exploration experiment.

Author information

Authors and Affiliations

  1. School of Mechanical, Aerospace, and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, 44919, Korea

    Jeongsik Kim & Namhun Kim

  2. Department of Defense Science, Korea National Defense University, Nonsan, 33021, Korea

    Jungmok Ma

Authors
  1. Jeongsik Kim
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  2. Jungmok Ma
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  3. Namhun Kim
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Corresponding author

Correspondence to Namhun Kim.

Additional information

Recommended by Editor Ja Choon Koo

Jeongsik Kim received the B.S. degree in Design and Human Engineering from Ulsan National Institute of Science and Technology, South Korea in 2014. Currently, he is a Ph.D. candidate at the Department of System Design and Control Engineering at UNIST, South Korea. His research interests include agent-based simulations and microsimulations for society. His e-mail address is jskim0@unist.ac.kr.

Jungmok Ma is an Associate Professor in the Department of Defense Science, Korea National Defense University. He received his Ph.D. in Industrial Engineering from University of Illinois at Urbana-Champaign. His research interest is data analytics, optimal design, and sustainability

Namhun Kim received the B.S. and M.S. degrees in Mechanical Engineering from Korea Advanced Institute of Science and Technology, South Korea in 1998 and 2000, respectively. He received the Ph.D. degree in Industrial Engineering from Pennsylvania State University, USA. Currently, he is an Associate Professor in the Department of System Design and Control Engineering, Ulsan National Institute of Science and Technology, South Korea. His research interest includes human-machine interactions, agent-based modeling and simulations, and additive manufacturing processes. His e-mail address is nhkim@unist.ac.kr.

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Kim, J., Ma, J. & Kim, N. Affordance-based modeling of a human-robot cooperative system for area exploration. J Mech Sci Technol 34, 877–887 (2020). https://doi.org/10.1007/s12206-020-0137-0

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  • DOI: https://doi.org/10.1007/s12206-020-0137-0

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