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Bridging the Gap Between Supervised Autonomy and Teleoperation

Bauer, Adrian Simon and Birkenkampf, Peter and Albu-Schäffer, Alin and Leidner, Daniel (2018) Bridging the Gap Between Supervised Autonomy and Teleoperation. In: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, pp. 44-47. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 14-15 July 2018, Stockholm, Sweden. DOI: 10.21437/AI-MHRI.2018

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Official URL: http://dx.doi.org/10.21437/AI-MHRI.2018-11

Abstract

Human teleoperation of robots and autonomous operations go hand in hand in many of todays service robots. While robot teleoperation is typically performed on low to medium levels of abstraction, automated planning has to take place on a higher abstraction level, i.e. by means of semantic reasoning. Accordingly, an abstract state of the world has to be maintained in order to enable an operator to switch seamlessly between both operational modes. We propose a novel approach that combines simulation-based geometric tracking and semantic state inference by means of so called State Inference Entities to overcome this issue. The system is demonstrated in real-world experiments conducted with the humanoid robot Rollin’ Justin.

Item URL in elib:https://elib.dlr.de/121067/
Document Type:Conference or Workshop Item (Speech)
Title:Bridging the Gap Between Supervised Autonomy and Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bauer, Adrian Simonadrian.bauer (at) dlr.dehttps://orcid.org/0000-0002-1171-4709
Birkenkampf, Peterpeter.birkenkampf (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Date:July 2018
Journal or Publication Title:Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.21437/AI-MHRI.2018
Page Range:pp. 44-47
Status:Published
Keywords:Supervised Autonomy. Teleoperation, Traded Control, Semantic Planning, Simulation, Space Robotics
Event Title:FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction
Event Location:Stockholm, Sweden
Event Type:Workshop
Event Dates:14-15 July 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Bauer, Adrian
Deposited On:30 Nov 2018 00:56
Last Modified:05 Aug 2019 09:44

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