Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be prevented in the future. We propose haptic intervention for real-time failure recovery and data collection. Elly is a system that allows for seamless transitions between autonomous robot behaviors and human intervention while collecting sensory information from the human's recovery strategy. The system and our design choices were experimentally validated on a single arm task -- installing a lightbulb in a socket -- and a bimanual task -- screwing a cap on a bottle -- using two 7-DOF manipulators equipped 4-finger grippers. In these examples, Elly achieved over 80% task completion during a total of 40 runs.
翻译:甚至最强的自主行为也可能失败。本研究的目标是在独立任务执行期间,从失败中恢复和收集数据,以便在未来加以预防。我们建议对实时故障恢复和数据收集进行顺畅干预。Elly是一个允许自主机器人行为和人类干预之间无缝过渡的系统,同时从人类的恢复战略中收集感官信息。这个系统和我们的设计选择在单臂任务上进行了实验性验证,在套接中安装了灯泡,以及一个双体任务 -- -- 在瓶子上搭起一个帽子 -- -- 使用两个装备有4根手指的7DOF操纵器。在这些例子中,Elly在总共40次运行中完成了80%的任务。