Human-robot cooperative sweeping by extending commands embedded in actions

In this paper, we propose a novel interaction model for a human-robot cooperative task. The CEA (Commands Embedded in Actions) model reduces a human work-load because a user of a robot needs less inputs and outputs than DCM (Direct Commanding methods) like gesturing. We propose ECEA (Extended CEA) in order to deal with more complicated tasks than CEA. On the cooperative sweeping task between a human and a mobile robot, we apply temporal extension as one of ECEA instances. Multiple commands are embedded in the human action by the extension and the robot performs more complicated task. The experiments for conforming reduction of a human work-load using ECEA are conduced on the sweeping task. Human cognitive loads are measured as human workloads and compared between ECEA and DCM. The results of the experiments showed that the ECEA minimized a human cognitive load.