SBIR Phase I: Personal Service Robotics with Tiered Human-in-the-Loop Assistance

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This Small Business Innovation Research (SBIR) Phase I project proposes a methodology and novel algo-rithms for Personal Service Robotics. Recognizing that, in unstructured environments, autonomous roboticsalone is not yet reliable enough for performing complete tasks, and complete manual teleoperation is toolabor intensive, this approach combines autonomous operation with human assistance in a Tiered Human-in-the-Loop framework. At all levels, the autonomy will request help when unexpected or anomalous eventsoccur. For example, at high levels the user may be asked to identify objects or adjust plans. At the low levelthe user may be asked to remote control the robot end-e^ector to unstick a wedged object. Automationwill focus on the most frequent task components, including motion planning, object grasping, and simplerigid-environment manipulation. The major innovations arise from (a) the design of limit-aware autonomyin each of these areas, requesting human intervention when needed and (b) multi-tiered human-assistedfallback options that necessitate greater involvement for severe failures or complex circumstances. Phase Iwill demonstrate an operator assisting a robot completing personal service tasks in non-industrial environ-ments. Phase II will parallelize for an operator supporting multiple robots, with the multiplicative e^ectdemonstrating overall labor savings.The broader impact/commercial potential of this project includes accelerating the deployment of robotsin unstructured environments, extending the market for personal robotic services beyond single-purposeautonomous devices, and increasing access to in-home assistance in daily living for an aging population.With demographics shifting to an older population, we face a major shortage of manual labor, particularlyfor unskilled work. This will impact the o;ce and home environments, and dramatically a^ect the olderpopulation for whom daily tasks become increasingly burdensome, but also for whom appropriate serviceworkers may not be available. Allowing an operator to assist robots performing personal service tasks canincrease the productivity of such labor and perform greater personal service than traditionally possible.Meanwhile, customers are clearly ready to invest into robotic technology. For reference, even today's highly-limited personal and home robots created a $1.28 Billion global market. A human-in-the-loop personal servicerobot will greatly expand that market, as well as create markets for operator services and infrastructures.Delivering personal robotic service will have the immediate bene ts of reduced labor costs and increasedproductivity, while also allowing older adults to age in familiar housing and retain greater independence.