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Learning and Interactive Design of Shared Control Templates

Quere, Gabriel and Bustamante Gomez, Samuel and Hagengruber, Annette and Vogel, Jörn and Steinmetz, Franz and Stulp, Freek (2021) Learning and Interactive Design of Shared Control Templates. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. 2021 IEEE International Conference on Intelligent Robots and Systems (IROS), Pragues (Online). doi: 10.1109/IROS51168.2021.9636047. ISBN 978-166541714-3. ISSN 2153-0858.

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Abstract

Controlling a robotic arm to achieve manipulation tasks is challenging for humans. Especially if only low-dimensional input signals can be provided, as is often the case for users with motor impairments. Using shared control to provide task-specific guidance and constraints facilitates control -- for instance with the Shared Control Templates (SCT) framework -- and enables even complex activities of daily living to be performed successfully. However, designing SCTs is a laborious task requiring robotic expertise. To make such design easier and faster, we propose a method for semi-automatically designing SCTs on the basis of demonstrations. Furthermore, we propose two similarity metrics, and demonstrate how these can be used to transfer knowledge from one SCT to another. We demonstrate that the SCTs so acquired can be successfully used in shared control for everyday tasks such as opening a drawer or a cupboard on our assistive robot EDAN.

Item URL in elib:https://elib.dlr.de/145804/
Document Type:Conference or Workshop Item (Speech)
Title:Learning and Interactive Design of Shared Control Templates
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Quere, GabrielGabriel.Quere (at) dlr.dehttps://orcid.org/0000-0002-1788-3685
Bustamante Gomez, SamuelSamuel.Bustamante (at) dlr.dehttps://orcid.org/0000-0002-7923-8307
Hagengruber, AnnetteAnnette.Hagengruber (at) dlr.dehttps://orcid.org/0000-0002-8243-1327
Vogel, JörnJoern.Vogel (at) dlr.dehttps://orcid.org/0000-0002-1987-0028
Steinmetz, FranzFranz.Steinmetz (at) dlr.dehttps://orcid.org/0000-0002-1481-9215
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Date:September 2021
Journal or Publication Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/IROS51168.2021.9636047
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:assistive robotics, shared control, learning from demonstrations
Event Title:2021 IEEE International Conference on Intelligent Robots and Systems (IROS)
Event Location:Pragues (Online)
Event Type:international Conference
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: Quere, Gabriel
Deposited On:19 Nov 2021 08:57
Last Modified:29 Sep 2022 13:40

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