Naturalistic human-robot collaboration based upon mixed-initiative interactions in teleoperating environment

The paper presents a method for the design of a robot teleoperation system based upon mixed-initiative interactions to realize the naturalistic collaboration between a human operator and a mobile robot with its autonomy. First, we analyze a robot-teleoperating environment and classify its parameters into the four different classes of information after A. Kirlik´s (1998) Generalized Lens Model framework: whether the operator and/or the robot can directly perceive the information or not, and whether they can directly manipulate the information or not. Based on this analysis, we develop an ecological interface system adopting a force-feedback joystick as a device providing a shared modality between a human operator and a robot´s autonomy