Inferring and assisting with constraints in shared autonomy
Inferring and assisting with constraints in shared autonomy
复制标题
推断和协助共享自治的约束
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
A. Dragan
中科院分区：
文献类型：
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作者：
Negar Mehr;R. Horowitz;A. Dragan
我们的目标是使机器人能够在日常任务中更好地协助运动障碍患者。目前，这类机器人是通过遥控操作的，这很繁琐。它需要通过某种界面提供输入来仔细操控机器人。这进一步变得复杂，因为大多数任务都充满了限制条件，例如机器人所拿的杯子在液体溢出之前末端执行器可以倾斜多少。由于输入界面的延迟、带宽和分辨率问题，满足这些限制条件可能很困难，甚至是不可能的。我们力求使操作这些机器人更高效，并减少操作员的认知负荷。鉴于操作研究还不够先进，无法在短期内使这些机器人实现自主，要实现这一目标就需要找出这些任务中人类操作员难以完成但利用现有能力易于自动化的方面。我们提出限制条件是关键：对操作员来说，维持任务限制条件是任务中最困难的部分，但自主完成却很容易。我们引入了一种从操作员输入推断限制条件的方法，以及一种基于置信度的协助用户维持限制条件的方式，并在一项用户研究中进行了评估。
Our goal is to enable robots to better assist people with motor impairments in day-to-day tasks. Currently, such robots are teleoperated, which is tedious. It requires carefully maneuvering the robot by providing input through some interface. This is further complicated because most tasks are filled with constraints, e.g. on how much the end effector can tilt before the glass that the robot is carrying spills. Satisfying these constraints can be difficult or even impossible with the latency, bandwidth, and resolution of the input interface. We seek to make operating these robots more efficient and reduce cognitive load on the operator. Given that manipulation research is not advanced enough to make these robots autonomous in the near term, achieving this goal requires finding aspects of these tasks that are difficult for human operators to achieve, but easy to automate with current capabilities. We propose constraints are the key: maintaining task constraints is the most difficult part of the task for operators, yet it is easy to do autonomously. We introduce a method for inferring constraints from operator input, along with a confidence-based way of assisting the user in maintaining them, and evaluate in a user study.