ビヘイビアツリーを用いた支援ロボットの遠隔操作
Assistive Robot Teleoperation Using Behavior Trees
ビヘイビアツリーに共有制御アクションノードを追加し、ノイズや遅延のある入力下でもユーザーが軌道追従と障害物回避を行える遠隔操作支援手法を提案した。
著者: Mohamed Behery, Minh Trinh, Christian Brecher, Gerhard Lakemeyer
分類: cs.RO
原文アブストラクト
Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution.
