Director: A User Interface Designed for Robot Operation with Shared Autonomy
Director: A User Interface Designed for Robot Operation with Shared Autonomy
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Director：专为具有共享自主权的机器人操作而设计的用户界面
DOI：
10.1002/rob.21681
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发表时间：
2017
影响因子：
8.3
通讯作者：
Russ Tedrake
中科院分区：
文献类型：
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作者：
Pat Marion;M. Fallon;Robin Deits;Andres K. Valenzuela;Claudia Pérez;Gregory Izatt;Lucas Manuelli;Matthew E. Antone;Hongkai Dai;T. Koolen;John Carter;S. Kuindersma;Russ Tedrake
在现场场景中操作高自由度的移动的操纵器，例如人形机器人，需要持续的态势感知、有能力的感知模块以及用于交互式运动规划和控制的有效机制。一个设计良好的操作员界面为操作员提供了足够的上下文，以快速执行使命，并灵活地处理不可预见的操作场景。相比之下，不直观的用户界面可能会增加灾难性操作员错误的风险，因为用户会被不必要的信息淹没。考虑到这些原则，我们介绍了Director背后的理念和设计决策-由MIT团队开发的开源用户界面，用于在DARPA机器人挑战赛（DRC）中试用Atlas机器人。Director的核心是一个集成的任务执行系统，它指定了完成实质性任务所需的操作序列，例如钻墙或爬楼梯。这些先验开发的任务序列可以在线查询自动感知和规划算法，其输出可以由操作员查看并由我们的全身控制器执行。我们在DRC使用Director实现了高效的高级任务操作，同时与专注于由训练有素的操作员进行远程操作的方法完全竞争。我们讨论的主要接口元素，包括导演，我们提供了一个分析，它的成功使用在刚果民主共和国。
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well‐designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director—the open‐source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole‐body controller. Our use of Director at the DRC resulted in efficient high‐level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators. We discuss the primary interface elements that comprise Director, and we provide an analysis of its successful use at the DRC.