人間からロボットへの教示入力手法の特性評価
Characterizing Input Methods for Human-to-robot Demonstrations
ロボットアームへの物体操作教示に用いる入力手法の設計空間を整理し、新手法「計測トング」を提案して既存3手法とユーザー研究で比較した。
著者: Pragathi Praveena, Guru Subramani, Bilge Mutlu, Michael Gleicher
分類: cs.RO
原文アブストラクト
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale object manipulation tasks to robot arms with two-finger grippers, we identify distinct usage paradigms in robotics that utilize human-to-robot demonstrations, extract abstract features that form a design space for input methods, and characterize existing input methods as well as a novel input method that we introduce, the instrumented tongs. We detail the design specifications for our method and present a user study that compares it against three common input methods: free-hand manipulation, kinesthetic guidance, and teleoperation. Study results show that instrumented tongs provide high quality demonstrations and a positive experience for the demonstrator while offering good correspondence to the target robot.
