NDLI: Proof of concept for a user-centered system for sharing cooperative plan knowledge over extended periods and crew changes in space-flight operations

Content Provider	IEEE Xplore Digital Library
Author	Sorce, M. Pointeau, G. Petit, M. Mealier, A.-L. Gibert, G. Dominey, P.F.
Copyright Year	2015
Description	Author affiliation: Human & Robot Cognitive Syst., Univ. Lyon I, Bron, France (Sorce, M.; Pointeau, G.; Petit, M.; Mealier, A.-L.; Gibert, G.; Dominey, P.F.)
Abstract	With the Robonaut-2 humanoid robot now permanently flying on the ISS, the potential role for robots participating in cooperative activity in space is becoming a reality. Recent research has demonstrated that cooperation in the joint achievement of shared goals is a promising framework for human interaction with robots, with application in space. Perhaps more importantly, with the turn-over of crew members, robots could play an important role in maintaining and transferring expertise between outgoing and incoming crews. In this context, the current research builds on our experience in systems for cooperative human-robot interaction, introducing novel interface and interaction modalities that exploit the long-term experience of the robot. We implement a system where the human agent can teach the Nao humanoid new actions by physical demonstration, visual imitation, and spoken command. These actions can then be composed into joint action plans that coordinate the cooperation between agent and human. We also implement algorithms for an Autobiographical Memory (ABM) that provides access to of all of the robots interaction experience. These functions are assembled in a novel interaction paradigm for the capture, maintenance and transfer of knowledge in a five-tiered structure. The five tiers allow the robot to 1) learn simple behaviors, 2) learn shared plans composed from the learned behaviors, 3) execute the learned shared plans efficiently, 4) teach shared plans to new humans, and 5) answer questions from the human to better understand the origin of the shared plan. Our results demonstrate the feasibility of this system and indicate that such humanoid robot systems will provide a potential mechanism for the accumulation and transfer of knowledge, between humans who are not co-present. Applications to space flight operations as a target scenario are discussed.
Starting Page	776
Ending Page	783
File Size	2711355
Page Count	8
File Format	PDF
e-ISBN	9781467367042
DOI	10.1109/ROMAN.2015.7333565
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-31
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Joints Humanoid robots Maintenance engineering space-flight operations human-robot interaction shared-plan behavior learning robotic teaching
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	ndl-support@iitkgp.ac.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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