A Comparison of Remote Robot Teleoperation Interfaces for General Object Manipulation
A Comparison of Remote Robot Teleoperation Interfaces for General Object Manipulation
复制标题
用于一般对象操作的远程机器人遥操作接口的比较
DOI：
10.1145/2909824.3020249
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
S. Chernova
中科院分区：
文献类型：
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作者：
Cassandra Kent;Carl Saldanha;S. Chernova
高自由度机械臂的鲁棒远程遥操作在广泛的机器人应用中至关重要。当代机器人操作界面主要利用自由定位姿态规范方法来独立地控制自由空间中的每个平移和定向轴。在这项工作中，我们提出了两个新的接口，约束定位和点和点击，将场景信息，包括点的兴趣和局部表面几何形状，到把握规范过程。我们还提出了一个用户研究评估的结果，比较增加使用场景信息的影响，掌握姿势规范算法一般的对象操作。我们的研究结果表明，约束定位和点击显着优于广泛使用的自由定位方法，显着减少了抓取错误的数量和指定姿势所需的用户交互的数量。此外，点击界面大大增加了用户能够完成的任务数量。
Robust remote teleoperation of high-DOF manipulators is of critical importance across a wide range of robotics applications. Contemporary robot manipulation interfaces primarily utilize a free-positioning pose specification approach to independently control each axis of translation and orientation in free space. In this work, we present two novel interfaces, constrained positioning and point-and-click, which incorporate scene information, including points-of-interest and local surface geometry, into the grasp specification process. We also present results of a user study evaluation comparing the effects of increased use of scene information in grasp pose specification algorithms for general object manipulation. The results of our study show that constrained positioning and point-and-click significantly outperform the widely used free positioning approach by significantly reducing the number of grasping errors and the number of user interactions required to specify poses. Furthermore, the point-and-click interface significantly increased the number of tasks users were able to complete.