制御設計arXiv:2310.19336
拡張ロボットの制御設計に関する考察
Considerations for the Control Design of Augmentative Robots
人間の能力を拡張するロボットの制御設計において、半自律制御とユーザーの意思決定を両立させるための原則と手法を文献から整理した。
著者: Shivani Guptasarma, Monroe Kennedy
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Robotic systems that are intended to augment human capabilities commonly require the use of semi-autonomous control and artificial sensing, while at the same time aiming to empower the user to make decisions and take actions. This work identifies principles and techniques from the literature that can help to resolve this apparent contradiction. It is postulated that augmentative robots must function as tools that have partial agency, as collaborative agents that provide conditional transparency, and ideally, serve as extensions of the human body.
