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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), 2021-09-27 - 2021-10-01, Pragues (Online). doi: 10.1109/IROS51168.2021.9636047. ISBN 978-166541714-3. ISSN 2153-0858.

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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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Quere, GabrielUNSPECIFIEDhttps://orcid.org/0000-0002-1788-3685UNSPECIFIED
Bustamante Gomez, SamuelUNSPECIFIEDhttps://orcid.org/0000-0002-7923-8307UNSPECIFIED
Hagengruber, AnnetteUNSPECIFIEDhttps://orcid.org/0000-0002-8243-1327UNSPECIFIED
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Steinmetz, FranzUNSPECIFIEDhttps://orcid.org/0000-0002-1481-9215UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
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 ISI Web of Science:Yes
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
Event Start Date:27 September 2021
Event End Date:1 October 2021
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:07 Jun 2024 10:51

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