産業応用向け遠隔共有制御の評価指標とベンチマーク
Metrics and Benchmarks for Remote Shared Controllers in Industrial Applications
遠隔操作型共有制御にAIを組み込む研究の産業実装を促進するため、性能評価用のベンチマークと指標を提案し、テレオペレーション把持タスクで手動操作との比較実験を行った。
著者: Claudio Zito, Maxime Adjigble, Brice D. Denoun, Lorenzo Jamone, Miles Hansard, Rustam Stolkin
分類: cs.RO
原文アブストラクト
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controllers to improve their reliability. Nonetheless, the impact of novel research approaches in real-world applications can have a very slow in-take. We propose a set of benchmarks and metrics to evaluate how the AI components of remote shared control algorithms can improve the effectiveness of such frameworks for real industrial applications. We also present an empirical evaluation of a simple intelligent share controller against a manually operated manipulator in a tele-operated grasping scenario.
