Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution.
翻译:由于输入信号中的噪音(例如脑计算机接口(BCI))或环境条件造成的延误(例如空间机器人远程操作),用户需要协助自主,在遵循预先界定的轨道的同时保持控制,避免障碍。这种协助需要易于操作者确定并能够将动态世界状态考虑在内的活动说明。本文代表的是使用Behavior 树(BTs)的日常生活活动,其固有的可读性和模块性使终端用户能够使用简单的接口界定新的活动。为了做到这一点,我们用共同控制行动节点来加强BTs,该节点指导用户在便利和确保任务执行的轨迹上的投入。</s>