From remote tool to shared roles
From remote tool to shared roles
复制标题
从远程工具到共享角色
DOI：
10.1109/mra.2008.929928
复制
发表时间：
2008
影响因子：
5.7
通讯作者：
J. Burke
中科院分区：
文献类型：
--
作者：
R. Murphy;J. Burke
本文从人机交互（HRI）的角度探讨了远程存在应用的遥操作，以创建一个模型，该模型可以捕获系统的关键元素，并预测自治和通信连接性不断进步的影响。远程存在应用是指一个或多个人使用机器人将自己投射到环境中以完成时间关键的使命的应用。在这些应用中，有一些迫切需要在一定距离处具有人类感知。例如，环境可能是不安全或无法到达的，例如在灾难发生后搜寻幸存者时遇到的情况，或者情况是新颖的和感知上不受约束的，例如在人质事件中注意到隐藏的恐怖分子。远程呈现应用程序的特点是“观察者不知道需要看到什么，直到他们看到它”的味道和需要看到的关键“需要看到什么”在尽可能接近真实的时间。这意味着远程存在应用程序本质上是远程操作的;人是控制回路中的主动元素，完全自主没有任何好处。问题变成了如何转移自主性和通信方面的进步，使人类机器人企业能够成功可靠地完成其使命。
This article explores teleoperation for remote presence applications from a human-robot interaction (HRI) perspective to create a model that captures the key elements of the system and projects the impact of ever-increasing advances in autonomy and communications connectivity. Remote presence applications are those where one or more humans use the robot to project themselves into an environment to complete a time-critical mission. In these applications, there is some compelling need to have human perception at a distance. For example, the environment may be unsafe or unreachable, such as encountered when searching for survivors in the aftermath of a disaster, or the situation is novel and perceptually unconstrained, as in noticing a hidden terrorist during a hostage situation. Remote presence applications are characterized by "the observers won't know what needs to be seen until they see it" flavor and the need to see that critical "what needs to be seen" in as near real time as possible. This means that remote presence applications are inherently teleoperated; the human is an active element in the control loop, and there is no benefit to full autonomy. The question becomes how to transfer the advances in autonomy and communications to enable the human-robot enterprise to successfully and reliably complete its mission.