Kolaboratif robotlarda güven özelliği: sanal insan robot etkileşim ortamında, sözsüz ipuçlarının deneysel araştırması

This thesis reports the development of non-verbal HRI (Human-Robot Interaction) behaviors on a robotic manipulator, evaluating the role of trust in collaborative assembly tasks. Towards this end, we developed four non-verbal HRI behaviors, namely gazing, head nodding, tilting, and shaking, on a UR5 robotic manipulator. We used them under different degrees of trust of the user to the robot actions. Specifically, we used a certain "head-on neck posture" for the cobot using the last three links along with the gripper. The gaze behavior directed the gripper towards the desired point in space, alongside with the head nodding and shaking behaviors. We designed a remote setup to experiment subjects interacting with the cobot remotely via Zoom teleconferencing. In a simple collaborative scenario, the efficacy of these behaviors was assessed in terms of their impact on the formation of trust between the robot and the user and task performance. 19 people participated in the experiment with varying ages and genders.