没入型アバターへのオープンワールド共有制御の統合
Integrating Open-World Shared Control in Immersive Avatars
遠隔操作アバターロボットにおいて、直接操作と共有制御を組み合わせるフレームワークを提案し、被験者実験で作業の迅速性と信頼性が向上することを示した。
著者: Patrick Naughton, James Seungbum Nam, Andrew Stratton, Kris Hauser
分類: cs.RO
原文アブストラクト
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to immerse them in the remote environment, but operators still struggle to complete tasks as competently as they could in person. We present a framework for incorporating open-world shared control into avatar robots to combine the benefits of direct and shared control. This framework preserves the fluency of our avatar interface by minimizing obstructions to the operator's view and using the same interface for direct, shared, and fully autonomous control. In a human subjects study (N=19), we find that operators using this framework complete a range of tasks significantly more quickly and reliably than those that do not.
