论文标题
对共享控制的研究，具有反馈，以避免避免障碍物的全身远程组合
A Study of Shared-Control with Force Feedback for Obstacle Avoidance in Whole-body Telelocomotion of a Wheeled Humanoid
论文作者
论文摘要
Teleperation已成为全自动系统，以实现人形生物的人类水平能力的替代解决方案。具体而言，全身控制的远距离运作是一种有希望的无提策略来指挥人形生物，但需要更多的身体和心理努力。为了减轻这种限制，研究人员提出了共享控制方法，其中包括机器人决策，以帮助人类完成低级任务，从而进一步减少了运营工作。但是，尚未探索用于全身级别的轮子类人形端粒体的共享控制方法。在这项工作中，我们研究了全身反馈如何影响各种环境中不同共享控制方法的性能。提出了时间衍生的Sigmoid功能（TDSF），以产生障碍物的更直观的力反馈。进行了全面的人类实验，结果得出的结论是，力反馈在不熟悉的环境中增强了全身端粒化的性能，但可以在熟悉的环境中降低性能。通过触觉传达机器人的意图显示出进一步的改进，因为操作员可以将力反馈用于短途计划和视觉反馈进行长距离计划。
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command humanoids but demands more physical and mental effort. To mitigate this limitation, researchers have proposed shared-control methods incorporating robot decision-making to aid humans on low-level tasks, further reducing operation effort. However, shared-control methods for wheeled humanoid telelocomotion on a whole-body level has yet to be explored. In this work, we study how whole-body feedback affects the performance of different shared-control methods for obstacle avoidance in diverse environments. A Time-Derivative Sigmoid Function (TDSF) is proposed to generate more intuitive force feedback from obstacles. Comprehensive human experiments were conducted, and the results concluded that force feedback enhances the whole-body telelocomotion performance in unfamiliar environments but could reduce performance in familiar environments. Conveying the robot's intention through haptics showed further improvements since the operator can utilize the force feedback for short-distance planning and visual feedback for long-distance planning.
