Recognition, prediction, and planning for assisted teleoperation of freeform tasks

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

Abstract

This paper presents a system for improving the intuitiveness and responsiveness of assisted robot teleoperation interfaces by combining intent prediction and motion planning. Two technical contributions are described. First, an intent predictor estimates the user's desired task, and accepts freeform tasks that include both discrete types and continuous parameters (e.g., desired target positions). Second, a cooperative motion planner uses the task estimates to generate continuously updated robot trajectories by solving optimal control problems with timevarying objective functions. The planner is designed to respond interactively to changes in the indicated task, avoid collisions in cluttered environments, and achieve high-quality motions using a hybrid of numerical and sample-based techniques. The system is applied to the problem of controlling a 6D robot manipulator using 2D mouse input in the context of two tasks: static target reaching and dynamic trajectory tracking. Simulations suggest that it enables the robot to reach static targets faster and to track trajectories more closely than comparable techniques.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VIII
EditorsNicholas Roy, Paul Newman, Siddhartha Srinivasa
PublisherMIT Press Journals
Pages121-128
Number of pages8
ISBN (Print)9780262519687
StatePublished - Jan 1 2013
Externally publishedYes
EventInternational Conference on Robotics Science and Systems, RSS 2012 - Sydney, Australia
Duration: Jul 9 2012Jul 13 2012

Publication series

NameRobotics: Science and Systems
Volume8
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Conference

ConferenceInternational Conference on Robotics Science and Systems, RSS 2012
Country/TerritoryAustralia
CitySydney
Period7/9/127/13/12

ASJC Scopus subject areas

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

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