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A Knowledge-Driven Shared Autonomy Human-Robot Interface for Tablet Computers

Birkenkampf, Peter and Leidner, Daniel and Borst, Christoph (2014) A Knowledge-Driven Shared Autonomy Human-Robot Interface for Tablet Computers. In: IEEE-RAS International Conference on Humanoid Robots. International Conference on Humanoid Robots (HUMANOIDS), 18.-20. Nov. 2014, Madrid, Spanien. doi: 10.1109/HUMANOIDS.2014.7041352.

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Autonomous and teleoperated robots have been proven to be capable of solving complex manipulation tasks. However, autonomous robots can only be deployed in predefined domains and teleoperation requires full attention of a human operator. Therefore, combining autonomous capabilities of the robot with teleoperation is desirable, yet balancing the work load between robot and operator for intuitive human-robot interfaces is still an open issue. In this paper, we present a knowledge-driven tablet computer application for commanding a robot on a high level of abstraction. The application guides an operators decisions based on the actual world state of the robot and enables the operator to command object-centered actions, which are autonomously interpreted symbolically and geometrically by the robot. We evaluate our approach using the humanoid robot Rollin’ Justin for an elaborate manipulation experiment and an user study. We show that our approach efficiently balances the work load between robot and operator and provides an intuitive interface for human-robot interaction.

Item URL in elib:https://elib.dlr.de/91271/
Document Type:Conference or Workshop Item (Poster)
Title:A Knowledge-Driven Shared Autonomy Human-Robot Interface for Tablet Computers
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:November 2014
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:human-robot interface, shared autonomy, humanoid service robots, manipulation, planning, functional object classes, meteron, SUPVIS JUSTIN
Event Title:International Conference on Humanoid Robots (HUMANOIDS)
Event Location:Madrid, Spanien
Event Type:international Conference
Event Dates:18.-20. Nov. 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Birkenkampf, Peter
Deposited On:08 Dec 2014 14:18
Last Modified:24 Jul 2023 07:57

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