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Toward Seamless Transitions Between Shared Control and Supervised Autonomy in Robotic Assistance

Bustamante Gomez, Samuel and Quere, Gabriel and Hagmann, Katharina and Wu, Xuwei and Schmaus, Peter and Vogel, Jörn and Stulp, Freek and Leidner, Daniel (2021) Toward Seamless Transitions Between Shared Control and Supervised Autonomy in Robotic Assistance. IEEE Robotics and Automation Letters, 6 (2), pp. 3833-3840. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064449. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9372861


Assistive robots aim to help humans with impairments execute motor tasks in everyday household environments. Controlling the end-effector of such robots directly, for instance with a joystick, is often cumbersome. Shared control methods, like Shared Control Templates (SCTs) [1] , have therefore been proposed to provide support for robotic control. Moreover, depending on factors such as workload, system trust or engagement, users may like to freely adjust the level of autonomy, for instance by letting the robot complete a task by itself. In this letter, we present a concept for adjustable autonomy in the context of robotic assistance. We extend the SCT approach with an automatic control module that allows the user to switch between Shared Control and Supervised Autonomy at any time during task execution. As both support modes use the same action representation, transitions are seamless. We show the capabilities of this approach in a set of daily living tasks with our wheelchair-mounted robot EDAN and our humanoid robot Rollin? Justin. We highlight how automatic execution benefits from SCT features, like task-related constraints and whole-body control.

Item URL in elib:https://elib.dlr.de/142038/
Document Type:Article
Title:Toward Seamless Transitions Between Shared Control and Supervised Autonomy in Robotic Assistance
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Quere, GabrielUNSPECIFIEDhttps://orcid.org/0000-0002-1788-3685UNSPECIFIED
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Schmaus, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-6639-0967UNSPECIFIED
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:April 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3833-3840
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Medical robots and systems, physically assistive devices, telerobotics and teleoperation.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Explainable Robotic AI
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Bustamante Gomez, Samuel
Deposited On:28 Apr 2021 18:40
Last Modified:28 Mar 2023 23:59

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