SGER: Human-Machine Cooperative Telerobotics for Complex Task Execution

*该奖项在探索性研究小额拨款模式下，支持对如何在遥操作环境下在人类和机器人之间动态分配任务控制责任的问题进行初步调查。该方法将涉及开发一种新的控制方案，其中计算机和人的输入可以顺利地整合，并且可以动态地分配对传感信息的处理和协作任务的实际控制的责任。此外，系统地分类预期的子任务以及相关的援助战略，将使计算机能够在这一统一架构下选择系统参数，以适应各种情况。有了这一概念，人们将试图在非结构化环境中弥合传统远程操作与理想但不切实际的自主机器人之间的差距。如果成功，这种方法应该会导致一种总体战略，使机器人能够缓解远程操作中对人类性能的一些令人疲惫的要求。

*** 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.***