Teleoperation with intelligent and customizable interfaces
Teleoperation with intelligent and customizable interfaces
复制标题
DOI：
10.5898/jhri.2.2.dragan
复制
发表时间：
2013-06
期刊：
影响因子：
--
通讯作者：
A. Dragan;S. Srinivasa;Kenton Lee
中科院分区：
文献类型：
--
作者：
A. Dragan;S. Srinivasa;Kenton Lee
在本文中，我们探讨了一类遥操作的问题，用户控制一个复杂的设备（例如机器人）通过接口来执行一个复杂的任务。远程操作界面从根本上受到流程间接性以及用户没有实际执行任务这一事实的限制。在这项工作中，我们研究智能和可定制的接口：这些接口，调解间接的后果，使远程操作更加无缝。它们是智能的，因为它们利用机器人的自主能力并协助完成任务。它们是可定制的，因为它们使用户能够适应将其输入映射到机器人上的retargetting功能。我们的研究支持这种接口的优势，但也指出了它们带来的挑战。我们提出三个关键意见。首先，虽然援助可以大大改善远程操作，但如何提供援助的决定必须是有背景的。例如，它必须取决于机器人对用户意图预测的信心。其次，虽然用户确实有能力提供意图表达输入，简化机器人的预测任务，这种能力可能会受到阻碍，他们和机器人之间的运动学差异。第三，尽管界面定制很重要，但它必须对用户的不良示例具有鲁棒性。
In this paper, we explore a class of teleoperation problems where a user controls a sophisticated device (e.g. a robot) via an interface to perform a complex task. Teleoperation interfaces are fundamentally limited by the indirectness of the process, by the fact that the user is not physically executing the task. In this work, we study intelligent and customizable interfaces: these are interfaces that mediate the consequences of indirectness and make teleoperation more seamless. They are intelligent in that they take advantage of the robot's autonomous capabilities and assist in accomplishing the task. They are customizable in that they enable the users to adapt the retargetting function which maps their input onto the robot. Our studies support the advantages of such interfaces, but also point out the challenges they bring. We make three key observations. First, although assistance can greatly improve teleperation, the decision on how to provide assistance must be contextual. It must depend, for example, on the robot's confidence in its prediction of the user's intent. Second, although users do have the ability to provide intent-expressive input that simplifies the robot's prediction task, this ability can be hindered by kinematic differences between themselves and the robot. And third, although interface customization is important, it must be robust to poor examples from the user.