TY - GEN
T1 - Integrating Open-World Shared Control in Immersive Avatars
AU - Naughton, Patrick
AU - Nam, James Seungbum
AU - Stratton, Andrew
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85202452450&partnerID=8YFLogxK
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U2 - 10.1109/ICRA57147.2024.10611618
DO - 10.1109/ICRA57147.2024.10611618
M3 - Conference contribution
AN - SCOPUS:85202452450
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 17807
EP - 17813
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -