Adjustable autonomy for mobile teleoperation of personal service robots
Adjustable autonomy for mobile teleoperation of personal service robots
复制标题
个人服务机器人移动远程操作的可调节自主性
DOI：
10.1109/roman.2012.6343870
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
S. Muszynski;J. Stückler;Sven Behnke
控制个人服务机器人是一项重要而复杂的任务，必须由用户自己完成。在本文中，我们提出了一种新颖的个人服务机器人用户界面，允许用户使用手持计算机远程操作机器人。用户可以在三个级别之间调整机器人的自主性：身体控制、技能控制和任务控制。我们为这些级别的远程操作设计了多个用户界面。在更高的层面上，机器人的自主行为减轻了用户的大量工作量。如果自主执行失败，或者机器人系统不提供自主功能，用户可以选择较低级别的自主，例如直接身体控制来解决任务。在定性用户研究中，我们评估了我们的家用服务机器人 Cosero 和 Dynamaid 的远程操作界面的可用性。我们展示了提供可调节手动和自动控制的好处。
Controlling personal service robots is an important, complex task which must be accomplished by the users themselves. In this paper, we propose a novel user interface for personal service robots that allows the user to teleoperate the robot using handheld computers. The user can adjust the autonomy of the robot between three levels: body control, skill control, and task control. We design several user interfaces for teleoperation on these levels. On the higher levels, autonomous behavior of the robot relieves the user from significant workload. If the autonomous execution fails, or autonomous functionality is not provided by the robot system, the user can select a lower level of autonomy, e.g., direct body control, to solve a task. In a qualitative user study we evaluate usability aspects of our teleoperation interface with our domestic service robots Cosero and Dynamaid. We demonstrate the benefits of providing adjustable manual and autonomous control.