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Collaborative robotics requires effective communication between a robot and ahuman partner. This work proposes a set of interpretive principles for how arobotic arm can use pointing actions to communicate task information to peopleby extending existing models from the related literature. These principles areevaluated through studies where English-speaking human subjects view animationsof simulated robots instructing pick-and-place tasks. The evaluationdistinguishes two classes of pointing actions that arise in pick-and-placetasks: referential pointing (identifying objects) and locating pointing(identifying locations). The study indicates that human subjects show greaterflexibility in interpreting the intent of referential pointing compared tolocating pointing, which needs to be more deliberate. The results alsodemonstrate the effects of variation in the environment and task context on theinterpretation of pointing. Our corpus, experiments and design principlesadvance models of context, common sense reasoning and communication in embodiedcommunication.

That and There: Judging the Intent of Pointing Actions with Robotic Arms