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

User Study Exploring the Role of Explanation of Failures by Robots in Human Robot Collaboration Tasks