Despite great advances in what robots can do, they still experience failures in human-robot collaborative tasks due to high randomness in unstructured human environments. Moreover, a human's unfamiliarity with a robot and its abilities can cause such failures to repeat. This makes the ability to failure explanation very important for a robot. In this work, we describe a user study that incorporated different robotic failures in a human-robot collaboration (HRC) task aimed at filling a shelf. We included different types of failures and repeated occurrences of such failures in a prolonged interaction between humans and robots. The failure resolution involved human intervention in form of human-robot bidirectional handovers. Through such studies, we aim to test different explanation types and explanation progression in the interaction and record humans.

翻译：尽管机器人在执行任务方面取得了巨大进步，但由于非结构化人类环境中的高随机性，它们仍会在人机协作任务中遭遇故障。此外，人类对机器人及其能力的不熟悉可能导致此类故障重复发生。这使得故障解释能力对机器人至关重要。本研究描述了一项用户实验，该实验在旨在完成货架填装的人机协作（HRC）任务中融入了不同类型的机器人故障。我们在人与机器人的长时间交互中设置了多种故障类型及其重复出现情况。故障解决涉及人类以人机双向交接形式进行干预。通过此类研究，我们旨在测试交互过程中不同解释类型及解释演进模式，并记录人类行为。