Shared Autonomy and Teleoperation

2017 ◽  
pp. 255-295
Author(s):  
Takayuki Kanda ◽  
Hiroshi Ishiguro
Keyword(s):  
Shared Autonomy

scholarly journals Haptic Teleoperation of a Mobile Robot: A User Study

2005 ◽  
Vol 14 (3) ◽  
pp. 345-365 ◽  
Author(s):  
Sangyoon Lee ◽  
Gaurav Sukhatme ◽  
Gerard Jounghyun Kim ◽  
Chan-Mo Park
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Minimum Distance ◽  
User Study ◽  
Haptic Feedback ◽  
Haptic Information ◽  
Operator Performance ◽  
Shared Autonomy ◽  
Close Range

The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

Shared Autonomy in Assistive Technologies

2007 ◽  
pp. 1067-1073
Author(s):  
Cristian Barrué ◽  
Ulises Cortés ◽  
Roberta Annicchiarico
Keyword(s):  
Assistive Technologies ◽  
Shared Autonomy

A robotic flexible endoscope with shared autonomy: a study of mockup cholecystectomy

2019 ◽  
Vol 34 (6) ◽  
pp. 2730-2741 ◽  
Author(s):  
Chengzhi Song ◽  
Xin Ma ◽  
Xianfeng Xia ◽  
Philip Wai Yan Chiu ◽  
Charing Ching Ning Chong ◽  
...  
Keyword(s):  
Flexible Endoscope ◽  
Shared Autonomy
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