Bustamante Gomez, Samuel und Rodriguez Brena, Ismael Valentin und Quere, Gabriel und Leidner, Daniel und Vogel, Jörn und Stulp, Freek (2022) Feasibility Checks for Safe Shared Control with Variable Autonomy in Assistive Robotics. In: ICRA 2022 Workshops. Intelligent Control Methods and Machine Learning Algorithms for Human-Robot Interaction and Assistive Robotics, in the 39th edition of the IEEE International Conference on Robotics and Automation ICRA, 2022-05-23 - 2022-05-27, Philadelphia, USA.
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Kurzfassung
In robotics, especially on systems that interact with humans, there is an increasing need for adaptable levels of autonomy. These include direct control, shared control, supervised autonomy, and full autonomy. A concrete example of this is the wheelchair-based robot EDAN, where a user may want to initiate the opening of a door in shared control, but then let the system autonomously cross the doorway. It is essential that robot guidance in shared control is robust and helps the human to prevent errors, rather than causing them by guiding the user towards solutions that are ultimately infeasible due to obstacles or limited manipulability. In this letter, we describe a proof-of-concept for fast and iteratively-refined feasibility checks in the context of EDAN. We conduct exploratory experiments in a grasping action with obstacles.
elib-URL des Eintrags: | https://elib.dlr.de/189489/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||||||
Titel: | Feasibility Checks for Safe Shared Control with Variable Autonomy in Assistive Robotics | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Mai 2022 | ||||||||||||||||||||||||||||
Erschienen in: | ICRA 2022 Workshops | ||||||||||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | -- | ||||||||||||||||||||||||||||
Veranstaltungstitel: | Intelligent Control Methods and Machine Learning Algorithms for Human-Robot Interaction and Assistive Robotics, in the 39th edition of the IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||||||||||||||
Veranstaltungsort: | Philadelphia, USA | ||||||||||||||||||||||||||||
Veranstaltungsart: | Workshop | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 23 Mai 2022 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 27 Mai 2022 | ||||||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Erklärbare Robotische KI | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Bustamante Gomez, Samuel | ||||||||||||||||||||||||||||
Hinterlegt am: | 28 Okt 2022 17:28 | ||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:50 |
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