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Autonomous Robots
Erschienen in: Autonomous Robots 6/2019

30.04.2018

Online adaptive teleoperation via motion primitives for mobile robots

verfasst von: Xuning Yang, Ayush Agrawal, Koushil Sreenath, Nathan Michael

Erschienen in: Autonomous Robots | Ausgabe 6/2019

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Abstract

Assistive teleoperation aims to help operators control robotic systems with ease. In this work, we present a novel adaptive teleoperation approach that is amenable to mobile systems using motion primitives for long-duration teleoperation, such as exploration using mobile vehicles or walking for humanoid systems. We first describe teleoperation using motion primitives, which are dynamically feasible and safe local trajectories based on a kinematic or dynamic model. We take a predict-and-adapt approach to assistive teleoperation, whereby adaptation is based on the predicted user intent. By representing the operator as an optimizing controller, a probabilistic distribution can be constructed for the available future actions based on some reward function. Adaptation is provided in the form of subsampling, which tailors the set of available actions based on the likelihood of action selection. We describe the framework for general systems and delineate the extrapolation to ground, air, and legged mobile robots, and demonstrate generalizability of this framework on two systems via simulation and experimentation; namely, a quadrotor micro air vehicle, and a simulated 3D humanoid system. Both systems show provably better performance in teleoperation by measures of behavioral entropy.
Vorheriger Artikel Adapting robot task planning to user preferences: an assistive shoe dressing example
Nächster Artikel A multiagent framework for learning dynamic traffic management strategies

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Fußnoten
1
An example of goal-based task definition is a command with a fixed goal location in the configuration space, such as go to the door. A description based task is a command that may describe an objective that is nebulous in the execution required to achieve it; for example, inspect the building for damages.
 
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Metadaten
Titel
Online adaptive teleoperation via motion primitives for mobile robots
verfasst von
Xuning Yang
Ayush Agrawal
Koushil Sreenath
Nathan Michael
Publikationsdatum
30.04.2018
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 6/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-018-9753-2

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