Integrating Open-World Shared Control in Immersive Avatars

Patrick Naughton, James Seungbum Nam, Andrew Stratton, Kris Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages17807-17813
Number of pages7
ISBN (Electronic)9798350384574
DOIs
StatePublished - 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: May 13 2024May 17 2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/TerritoryJapan
CityYokohama
Period5/13/245/17/24

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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