Robot Task Planning for Mixed-Initiative Human Robot Interaction in Home Service Robot

The main reason of current robotics research is the difficulties of coping with dynamic environment, uncertainty, operational limitation, etc. Human robot interaction (HRI) becomes important role in robotics research and especially humanpsilas roles in HRI is increasing. In this paper, we made robot task planning framework for MI HRI in home service environment. We suggest an structure of task network called joint script which enables MI HRI and its planning process based on three procedures; search, selection and adaptation in deliberative layer. For experiment, we manually made 200 heterogeneous joint scripts and each module for script-based planning is validated by showing appropriate scenario.