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An assigned responsibility system for robotic teleoperation control
This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer Singapore
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5854743/ https://www.ncbi.nlm.nih.gov/pubmed/29577073 http://dx.doi.org/10.1007/s41315-018-0043-0 |
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author | Small, Nicolas Lee, Kevin Mann, Graham |
author_facet | Small, Nicolas Lee, Kevin Mann, Graham |
author_sort | Small, Nicolas |
collection | PubMed |
description | This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan’s execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications. |
format | Online Article Text |
id | pubmed-5854743 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | Springer Singapore |
record_format | MEDLINE/PubMed |
spelling | pubmed-58547432018-03-22 An assigned responsibility system for robotic teleoperation control Small, Nicolas Lee, Kevin Mann, Graham Int J Intell Robot Appl Regular Paper This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan’s execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications. Springer Singapore 2018-01-19 2018 /pmc/articles/PMC5854743/ /pubmed/29577073 http://dx.doi.org/10.1007/s41315-018-0043-0 Text en © The Author(s) 2018 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
spellingShingle | Regular Paper Small, Nicolas Lee, Kevin Mann, Graham An assigned responsibility system for robotic teleoperation control |
title | An assigned responsibility system for robotic teleoperation control |
title_full | An assigned responsibility system for robotic teleoperation control |
title_fullStr | An assigned responsibility system for robotic teleoperation control |
title_full_unstemmed | An assigned responsibility system for robotic teleoperation control |
title_short | An assigned responsibility system for robotic teleoperation control |
title_sort | assigned responsibility system for robotic teleoperation control |
topic | Regular Paper |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5854743/ https://www.ncbi.nlm.nih.gov/pubmed/29577073 http://dx.doi.org/10.1007/s41315-018-0043-0 |
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