Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and complex problem. In this paper, we tackle the problems associated with quickly and interactively authoring new robot behavior that works on real hardware. We bring the powerful concepts of Affordance Templates and Coactive Design methodology to this problem to attempt to solve and explain it. In our approach we use interactive stance and hand pose goals along with other types of actions to author humanoid robot behavior on the fly. We then describe how our operator interface works to author behaviors on the fly and provide interdependence analysis charts for task approach and door opening. We present timings from real robot performances for traversing a push door and doing a pick and place task on our Nadia humanoid robot.

翻译：仿人机器人有潜力在为人建造的世界中执行实用任务。然而，与仿人机器人进行意图沟通和协作是一个多层面且复杂的问题。本文致力于解决与快速、交互式地编写可在真实硬件上运行的新机器人行为相关的问题。我们将"能力模板"和"协同设计方法"的强大概念引入这一问题，以尝试解决并解释它。在我们的方法中，利用交互式姿态和手部姿势目标以及其他类型的动作，来即时编写仿人机器人行为。随后，我们描述了操作员界面如何实现行为的即时编写，并提供了针对任务接近和开门操作的相互依赖分析图表。我们展示了在Nadia仿人机器人上执行推门穿越和取放任务时的真实机器人性能时间数据。