Determining the benefit of human input in human-in-the-loop robotic systems
Determining the benefit of human input in human-in-the-loop robotic systems
复制标题
确定人机交互机器人系统中人类输入的好处
DOI：
10.1109/roman.2013.6628447
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Redwan Alqasemi
中科院分区：
文献类型：
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作者：
Christine Bringes;Yun Lin;Yu Sun;Redwan Alqasemi
在这项工作中，我们分析了人机循环机器人系统的拾取和放置任务，以确定人类输入在哪些方面对协作任务最有利。这是通过在商业机械臂系统上实施拾取和放置任务并确定任务的哪些部分在由人类指导代替时可以最大程度地提高整体任务性能并且需要最少的认知努力来实现的。拾取和放置任务可以分为两个主要区域：粗略接近目标物体和精细拾取运动。对于精细拾取阶段，我们研究了用户指导在末端执行器的位置和方向方面的重要性。我们的实验结果表明，我们的人机循环系统最成功的策略是人类指定一个用于抓取的一般区域，然后机器人系统完成任务的其余部分。我们的实验设置和程序可以推广并用于指导执行其他任务的其他人在环系统中对人类影响的类似分析。
In this work, we analyze the pick and place task for a human-in-the-loop robotic system to determine where human input can be most beneficial to a collaborative task. This is accomplished by implementing a pick and place task on a commercial robotic arm system and determining which segments of the task, when replaced by human guidance, provide the most improvement to overall task performance and require the least cognitive effort. The pick and place task can be segmented into two main areas: coarse approach towards goal object and fine pick motion. For the fine picking phase, we look at the importance of user guidance in terms of position and orientation of the end effector. Results from our experiment show that the most successful strategy for our human-in-the-loop system is the one in which the human specifies a general region for grasping, and the robotic system completes the remaining elements of the task. Our experimental setup and procedures could be generalized and used to guide similar analysis of human impact in other human-in-the-loop systems performing other tasks.