SGER: Human-Machine Cooperative Telerobotics for Complex Task Execution

* 这个 在探索性研究的小额赠款模式下，一项奖励支持了对如何在任务控制责任之间动态分配问题的初步调查。 一个人和一个机器人在一个远程操作设置。该方法将涉及一个新的控制方案的发展，其中从计算机和人类的输入可以顺利地集成，和处理的感知信息和实际控制的合作任务的责任可以动态分配。 此外，本发明还提供了一种方法， 预期子任务的系统分类沿着相关的辅助策略将允许计算机在该统一体系结构下选择系统参数以适应各种情况。有了这个概念，将试图弥合传统的遥操作和理想的，但不切实际的自主机器人在非结构化环境中的差距差距。 如果成功的话，这种方法应该会导致一种通用策略，使机器人能够减轻 一些 远程操作对人类表现的繁重要求。

*** This award, in the Small Grants for Exploratory Research mode, supports a preliminary investigation of the question of how to dynamically allocate task control responsibilities between a human and robot in a teleoperation setting. The approach will involve the development of a new control scheme in which the inputs from computer and human can be smoothly integrated, and responsibilities for processing of sensed information and actual control of the cooperative task can be dynamically allocated. In addition, systematic categorization of expected subtasks along with the associated assistance strategies will allow the computer to select system parameters under this unified architecture to suit a variety of situations. With this concept, an attempt will be made to bridge the gap between traditionally practiced teleoperation and desirable but impractical autonomous robotics in an unstructured environment. If successful, this approach should lead to a general strategy that could enable robots to relieve some of the tiring demands on human performance in teleoperation.***