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构建的世界中执行有用任务。然而，与仿人机器人进行意图沟通和协同配合是一个多层面且复杂的问题。本文旨在解决与快速、交互式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"仿效模板与协同设计方法论"的强大概念引入此问题，以尝试解决并阐释它。在我们的方法中，利用交互式姿态与手部姿势目标及其他动作类型，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即时编写行为，并为任务接近和开门操作提供了相互依赖分析图表。我们展示了在Nadia仿人机器人上执行推门通行及抓取放置任务时，从真实机器人运行中获取的时间数据。