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Presented by Matthew Johnsonmjohnson@ihmc.usFISO Telecon 03-18-15
Florida Institute for Human and Machine CognitionCoactive DesignDesigning for Interdependence in Robotics1
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Goals For This TalkShake up your assumptions about robotics
Provide a new perspective on designing robots2
Past FISO Robotics TopicsSurface Telerobotics (Tunstel JHU/APL)Humans in the loop for flexibility and handling contingenciesCo-Robots (Thangavelu USC)Innovative Robotic Systems (Akin UMD)use robots to make humans as capable as possibleOn-orbit Servicing: Telepresence(Artigas DLR)Humans in Orbit and Tele-robotics (Pica SI/UH)Human and Robotic Integration (Marques NASA ARC)Future human spaceflight will be more than developing automation/robotic technology it will have to be about integrating these technologies with people.Important gap : design guidelinesEVA/Robotic Servicing (Akin UMD)
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Why do we need a new approach? Function Allocation (Fitts)characterize the general strengths and weaknesses of humans and machinesSupervisory Control (Sheridan)a human oversees autonomous systems, statically allocating tasks to them.Adjustable Autonomy (Dorais)autonomous systems operate with dynamically varying levels of independenceSliding Autonomy (Dias)Same as adjustable autonomyAdaptive Automation (Sheridan)the system must decide at runtime which functions to automateFlexible autonomy (Technology horizons)the system can vary the degree of autonomy from essentially none to fullMixed-initiative interaction (Allen)An interaction strategy, where each agent can contribute what it does bestCollaborative Control (Fong)Allows the human to close the perceptual or cognitive loopsCognitive Task Analysis, Human Factors and othersProvides an understanding of human needs, usability, etc.Task AllocationDynamicTask AllocationBoth partiesNot just taskallocationHuman side4
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Why do we need a new approach?Autonomy is unidimensionalThe conceptualization of levels of autonomy is a useful scientific grounding for the development of autonomous system roadmapsAutonomy is a widgetAutonomous systems are autonomousOnce achieved, full autonomy obviates the need for human-machine collaborationAs machines acquire more autonomy, they work as simple multipliers of human capabilityFull autonomy is not only possible, but always desirable
Bradshaw, J.M, Robert R. Hoffman, Matthew Johnson, and David D. Woods. The Seven Deadly Myths of "Autonomous Systems. IEEE Intelligent Systems, May/June 2013 (vol. 28 iss. 3), pp. 54-61.Johnson, M., Bradshaw, J.M., Hoffman, R. R., Feltovich, P. J., and Woods, D. D. Seven Cardinal Virtues for Human-Machine Teamwork: Examples from the DARPA Robotic Challenge. IEEE Intelligent Systems, November/December 2014 (vol. 29 iss. 6), pp. 74-80Seven deadly myths of autonomy that engender a host of other serious misconceptions and consequences.5
Why do we need a new approach?Task allocation leads to the misconception that we are developing black boxes of control
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Why do we need a new approach?Task allocation leads to the misconception that we are developing black boxes of control7
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences Matter
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences Matter
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences MatterLevels Are Neither Ordinal nor Representative of Value
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences MatterLevels Are Neither Ordinal nor Representative of ValueAutonomy is Relative to the Context of the Activity
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences MatterLevels Are Neither Ordinal nor Representative of ValueAutonomy is Relative to the Context of the ActivityLevels of Autonomy Encourage Reductive Thinking
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences MatterLevels Are Neither Ordinal nor Representative of ValueAutonomy is Relative to the Context of the ActivityLevels of Autonomy Encourage Reductive Thinking
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.
Functional Differences MatterLevels Are Neither Ordinal nor Representative of ValueAutonomy is Relative to the Context of the ActivityLevels of Autonomy Encourage Reductive ThinkingThe Levels of Autonomy Concept Is Insufficient to Meet Future Challenges
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Why do we need a new approach?Few of these approaches provide a method or a comprehensive approach to determining requirements and most are based on LOA.Functional Differences MatterLevels Are Neither Ordinal nor Representative of ValueAutonomy is Relative to the Context of the ActivityLevels of Autonomy Encourage Reductive ThinkingThe Levels of Autonomy Concept Is Insufficient to Meet Future ChallengesLevels Provide Insufficient Guidance to the Designer
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
19Johnson, Matthew, J.M. Bradshaw, Paul J. Feltovich, Catholijn Jonker, Birna van Riemsdijk, and Maarten Sierhuis. Autonomy and Interdependence in Human-Agent-Robot Teams. IEEE Intelligent Systems, March/April 2012 (vol. 27 iss. 2), pp. 43-51.
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Why do we need a new approach?Focusing solely on autonomy ignores issues that have plagued systems from delivering the promised improvements in performance
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Dependent Independent-Autonomy-Why do we need a new approach?
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Dependent Independent Interdependent-Autonomy--Teamwork-Why do we need a new approach?
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Dependent Independent Interdependent-Autonomy--Teamwork-Why do we need a new approach?
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Dependent Independent Interdependent-Autonomy--Teamwork-Why do we need a new approach?27
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Dependent Independent Interdependent-Autonomy--Teamwork-Why do we need a new approach?28
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Dependent Independent Interdependent-Autonomy--Teamwork-Why do we need a new approach?by designing for interdependence.Coactive Design is about enabling autonomy to reach its potential29
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What is Coactive Design?Coactive Design is about designing human-robot systems that support interdependence.
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The Theory of Interdependence
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Interdependence describes the set of complementary relationships that two or more parties rely on to manage required or opportunistic dependencies in joint activity
The Theory of Interdependence32
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Interdependence describes the set of complementary relationships that two or more parties rely on to manage required or opportunistic dependencies in joint activity
involves both the control algorithms and the interfaceThe Theory of Interdependence33
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Interdependence describes the set of complementary relationships that two or more parties rely on to manage required or opportunistic dependencies in joint activity
Not limited to compensating for some missing ability or hard constraints, but also involves normal supportive behavior associated with teamwork or soft constraints.The Theory of Interdependence34
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The Theory of InterdependenceInterdependence describes the set of complementary relationships that two or more parties rely on to manage required or opportunistic dependencies in joint activityWhat kind of relationships are used to manage dependencies in joint activity?
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(Sheridan & Verplank, 1978)37What is Coactive Design?
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(Sheridan & Verplank, 1978)Autonomy and Control TheoryInterface Design and Human Factors38What is Coactive Design?
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(Sheridan & Verplank, 1978)These are where the requirements for supporting interdependence come from.Autonomy and Control TheoryInterface Design and Human Factors39What is Coactive Design?
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What is Coactive Design?
(Sheridan & Verplank, 1978)These are where the requirements for supporting interdependence come from.ObservabilityPredictabilityDirectabilityAutonomy and Control TheoryInterface Design and Human FactorsInterdependence40
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What is Coactive Design?Coactive Design is about designing human-robot systems that support interdependence.Coactive Design highlights three key capabilities that are needed for effective human-robot teamwork: observability, predictability and directability (OPD).Coactive Design is a design method that helps design support for interdependence and understand the impact of change.
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Identification process
Selection and implementation processEvaluation of change process
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What is Coactive Design?Coactive Design is about designing human-robot systems that support interdependence.Coactive Design highlights three key capabilities that are needed for effective human-robot teamwork: observability, predictability and directability (OPD).Coactive Design is a design method that helps design support for interdependence and understand the impact of change.
43Johnson, M., J.M. Bradshaw, P. J. Feltovich, C. M. Jonker, M. B. van Riemsdijk, and M. Sierhuis. Coactive design: Designing support for interdependence in joint activity. Journal of Human-Robot Interaction, Vol. 3, No. 1, 2014, pp. 43-69.
Why is interdependence important?Because it provides specific guidance to an engineer44
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So, what does this mean to an engineer?improve the teaming of unmanned systems with the manned force - Unmanned Systems Integrated Roadmap FY2011-2036
The goal of the National Robotics Initiative is to accelerate the development and use of robots in the United States that work beside, or cooperatively with, people. and symbiotic relationship... NRI 2013
human-system collaboration Defense Science Board 2012
combine the inherent strengths of manned platforms with the strengths of UAS UAS Roadmap 2010-2035
shared-control concept the operator works in-the-loop with the robot Roadmap for US Robotics 2009
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Why is interdependence important?Because it provides specific guidance to an engineerBecause it addresses the core issues of integrating a robot into human activity
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Core Issues in Robotics Providing SupportHuman NeedsWhat is the robot doing?What is the robot going to do next?How can we get the robot to do what we need?
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Human NeedsIssuesWhat is the robot doing?ObservabilityWhat is the robot going to do next?PredictabilityHow can we get the robot to do what we need?Directability
Core Issues in Robotics Providing Support48
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Human NeedsIssuesRobot NeedsWhat is the robot doing?Mutual ObservabilityWhat is the intent of the human?What is the robot going to do next?Mutual PredictabilityWhat does the human need from me?
How can we get the robot to do what we need?Mutual DirectabilityCan the human provide help?
Core Issues in Robotics Providing Support49
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Why is interdependence important?Because it provides specific guidance to an engineerBecause it addresses the core issues of integrating a robot into human activityBecause it helps analyze a design
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Interdependence Analysis (IA) TableTeam Member Role AlternativesPerformerSupporting Team MembersI can do it allMy assistance could improve efficiencyI can do it all but my reliability is < 100%My assistance could improve reliabilityI can contribute but need assistanceMy assistance is requiredI cannot do itI cannot provide assistance
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Feasible Interdependence combinations
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IA Table Example for Collaborative ControlTasksHierarchicalSub-tasksRequiredCapacitiesTeam Member Role AlternativesAlternative 1PerformerSupporting Team MembersRobotHumanNavigationAvoid obstaclesSense obstaclesInterpret if obstacle is passableDecide to avoid to proceed
observabilitydirectabilitypredictabilitynotification
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Why is interdependence important?Because it provides specific guidance to an engineerBecause it addresses the core issues of integrating a robot into human activityBecause it helps analyze a designBecause it helps determining how to allocate resources
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There are many aspects of this task (e.g. perception, walking, manipulation), so if we do not have infinite time, where should we focus our efforts?57
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Hose Task IA Table
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Why is interdependence important?Because it provides specific guidance to an engineerBecause it addresses the core issues of integrating a robot into human activityBecause it helps analyze a designBecause it helps determining how to allocate resourcesBecause it helps understand the impact of change
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It is common to want to automate parts of a given task, Lets say we wanted to automate the task of picking the hose up off the table. What would be the impact of doing this?60
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Hose Task IA Table
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Hose Task IA Table
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How was interdependence beneficial?It helped design an effective interface for the operator. 63
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How was interdependence beneficial?It helped design an effective interface for the operator. It helped ensure control algorithms had appropriate hooks for OPD.65
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Coactive Design
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How was interdependence beneficial?It helped design an effective interface for the operator.It helped ensure control algorithms had appropriate hooks for OPD.It provided flexibility by identifying alternative ways to accomplish the same task. 68
How was interdependence beneficial?69If you fail to plan, you are planning to fail.-Benjamin Franklin In robotics, If you dont plan to fail, you are failing to plan.-Matthew Johnson
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How was interdependence beneficial?It helped design an effective interface for the operator.It helped ensure control algorithms had appropriate hooks for OPD.It provided flexibility by identifying alternative ways to accomplish the same task. It helps us build a resilient system, not based on flawless performance, but on the ability to recognize and adapt to uncertainty, misfortune and surprise.71
DRC Trials Results72
DRC Trials Results
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Thank you! Any Questions?http://www.ihmc.us/users/mjohnson/publications.html
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