{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T23:38:07Z","timestamp":1783467487490,"version":"3.55.0"},"reference-count":43,"publisher":"SAGE Publications","issue":"5-7","license":[{"start":{"date-parts":[[2017,2,5]],"date-time":"2017-02-05T00:00:00Z","timestamp":1486252800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"JSPS Core-to-Core Program"},{"name":"NSF grant","award":["1318733"],"award-info":[{"award-number":["1318733"]}]},{"name":"MEXT\/JSPS Grants-in-Aid for Scientific Research","award":["24000012"],"award-info":[{"award-number":["24000012"]}]},{"name":"MEXT\/JSPS Grants-in-Aid for Scientific Research","award":["24119003"],"award-info":[{"award-number":["24119003"]}]},{"name":"MEXT\/JSPS Grants-in-Aid for Scientific Research","award":["25700027"],"award-info":[{"award-number":["25700027"]}]},{"name":"ONR Science of Autonomy grant","award":["N000141310817"],"award-info":[{"award-number":["N000141310817"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,6]]},"abstract":"<jats:p>The promise of robots assisting humans in everyday tasks has led to a variety of research questions and challenges in human-robot collaboration. Here, we address the question of whether and when a robot should take initiative during joint human-robot task execution. We designed a robotic system capable of autonomously performing table-top manipulation tasks while monitoring the environmental state. Our system is able to predict future environmental states and the robot\u2019s actions to reach them using a dynamic Bayesian network. To evaluate our system, we implemented three different initiative conditions to trigger the robot\u2019s actions. Human-initiated help gives control of the robot action timing to the user; robot-initiated reactive help triggers robot assistance when it detects that the human needs help; robot-initiated proactive help makes the robot help whenever it can. We performed a user study (N=18) to compare the trigger mechanisms in terms of quality of interaction, system performance and perceived sociality of the robot. We found that people collaborate best with a proactive robot, yielding better team fluency and high subjective ratings. However, they prefer having control of when the robot should help, rather than working with a reactive robot that only helps when needed. We also found that participants gazed at the robot\u2019s face more during the human-initiated help compared to the other conditions. This shows that asking for the robot\u2019s help may lead to a more \u201csocial\u201d interaction, without improving the quality of interaction or the system performance.<\/jats:p>","DOI":"10.1177\/0278364916688253","type":"journal-article","created":{"date-parts":[[2017,2,6]],"date-time":"2017-02-06T02:31:31Z","timestamp":1486348291000},"page":"563-579","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":84,"title":["Efficient human-robot collaboration: When should a robot take initiative?"],"prefix":"10.1177","volume":"36","author":[{"given":"Jimmy","family":"Baraglia","sequence":"first","affiliation":[{"name":"Graduate School of Engineering, Department of Adaptive Machine Science, Osaka University, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maya","family":"Cakmak","sequence":"additional","affiliation":[{"name":"Computer Science & Engineering, University of Washington, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yukie","family":"Nagai","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering, Department of Adaptive Machine Science, Osaka University, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rajesh PN","family":"Rao","sequence":"additional","affiliation":[{"name":"Computer Science & Engineering, University of Washington, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Minoru","family":"Asada","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering, Department of Adaptive Machine Science, Osaka University, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2017,2,5]]},"reference":[{"key":"bibr1-0278364916688253","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.048"},{"key":"bibr2-0278364916688253","volume-title":"Gaze and Mutual Gaze","author":"Argyle M","year":"1976"},{"key":"bibr3-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385880"},{"key":"bibr4-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2016.7451735"},{"key":"bibr5-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/DEVLRN.2014.6982994"},{"key":"bibr6-0278364916688253","first-page":"11","volume-title":"The 2015 Tenth Annual ACM\/IEEE International Conference on Human-Robot Interaction, Proceeding of the Workshop on Cognition: A Bridge Between Robotics and Interaction","author":"Baraglia J","year":"2015"},{"key":"bibr7-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/TAMD.2010.2051030"},{"key":"bibr8-0278364916688253","doi-asserted-by":"publisher","DOI":"10.3844\/jssp.2007.106.116"},{"key":"bibr9-0278364916688253","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.2.1.Chao"},{"key":"bibr10-0278364916688253","volume-title":"AAAI fall symposium: Dialog with robots, The 2010 AAAI Fall Symposium","author":"Chao C","year":"2010"},{"key":"bibr11-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696491"},{"key":"bibr12-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385698"},{"key":"bibr13-0278364916688253","first-page":"99","volume-title":"Markov Decision Processes in Artificial Intelligence","author":"Degris T","year":"2010"},{"key":"bibr14-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696473"},{"key":"bibr15-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1016\/S0149-7634(00)00025-7"},{"key":"bibr16-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2003.814768"},{"key":"bibr17-0278364916688253","author":"Gombolay MC","year":"2014","journal-title":"Robots: Science and Systems (RSS)"},{"key":"bibr18-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509906"},{"key":"bibr19-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907165"},{"key":"bibr20-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354288"},{"key":"bibr21-0278364916688253","volume-title":"HRI workshop on human robot collaboration","author":"Hoffman G","year":"2013"},{"key":"bibr22-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228718"},{"key":"bibr23-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9166-3"},{"key":"bibr24-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559668"},{"key":"bibr25-0278364916688253","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2015.01049"},{"key":"bibr26-0278364916688253","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.031"},{"key":"bibr27-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543522"},{"key":"bibr28-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630812"},{"key":"bibr29-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-011-0121-z"},{"key":"bibr30-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696368"},{"key":"bibr31-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980048"},{"key":"bibr32-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-7687.2007.00574.x"},{"key":"bibr33-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559656"},{"key":"bibr34-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514109"},{"key":"bibr35-0278364916688253","volume-title":"Proceedings of the 2013 Workshop on Collaborative Manipulation, 8th ACM\/IEEE International Conference on Human-Robot Interaction","author":"Mutlu B","year":"2013"},{"key":"bibr36-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms1695"},{"key":"bibr37-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509179"},{"key":"bibr38-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696455"},{"key":"bibr39-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483499"},{"key":"bibr40-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140066"},{"key":"bibr41-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957668"},{"key":"bibr42-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1145\/1349822.1349865"},{"key":"bibr43-0278364916688253","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X05000129"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916688253","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364916688253","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916688253","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:32Z","timestamp":1777457732000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364916688253"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2,5]]},"references-count":43,"journal-issue":{"issue":"5-7","published-print":{"date-parts":[[2017,6]]}},"alternative-id":["10.1177\/0278364916688253"],"URL":"https:\/\/doi.org\/10.1177\/0278364916688253","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,2,5]]}}}