Analysing Cooperative Human-Robot System as an Optimization Problem

An analytical model is presented as a possible methodology to analyse Human-Robot (H-R) cooperative systems that can collaborate as peers or co-workers in a shared work-, time-space for a common time-critical task [1] [2]. The jointefficiency of the H-R system as a whole in a timecritical task is developed as an optimization problem. For this, an objective function is derived that accommodates all the operational and temporal costs of the system for a successful and fluent handover [3]. The performance of the system is then measured in terms of the fluency of the system or the successes of the coordination [4]. This is evaluated by solving the objective function for a solution that minimizes (or maximizes, if that is the goal) the overall cost of the system.This is a pre-print version of the extended abstract published in the ICR (Israeli Conference on Robotics