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Paper ThP212.6

Pitzer, Benjamin (Robert Bosch LLC), Styer, Michael (Robert Bosch LLC), Bersch, Christian (Robert Bosch LLC), DuHadway, Charles (Robert Bosch LLC), Becker, Jan (Robert Bosch LLC)

Towards Perceptual Shared Autonomy for Robotic Mobile Manipulation

Scheduled for presentation during the Regular Sessions "Learning and Adaptive Systems IV" (ThP212), Thursday, May 12, 2011, 16:40−16:55, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Cognitive Human-Robot Interaction, Recognition, Teleoperation

Abstract

Reliability and availability is a major concern for autonomous systems. A personal robot has to solve complex manipulation tasks which are very difficult to automate robustly. In order for a robot to perform better in those application, it needs to be capable of accepting help from a human operator. Shared autonomy is a system model based on human--robot dialogue. This work aims at bridging the gap between full human control and full autonomy for tasks in the domain of personal robotics. One of the hardest problems for personal robotic systems is perception: perceiving and inferring about objects in the robot's environment. We present a system capable of solving the perceptual inference in combination with a human, such that a human operator functions as a resource for the robot and helps to compensate for limitations of autonomy. In this paper, we show how a human-robot team can work together effectively solving complex perception tasks. We present a system that asks a human operator to identify objects it doesn't recognize or find. In various experiments with the PR2 robot we show that this shared autonomy system performs more robustly than the robot system alone and that it is capable of tasks which are difficult to accomplish by an autonomous agent.

 

 

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