Director: A User Interface Designed for Robot Operation with Shared Autonomy
Name
Marion16.pdf
Description
Accepted version
Size
14.29 MB
Format
Adobe PDF
Checksum (MD5)
8a6f7e86ec5d8239cc7d6e8ae623d482
Author(s)
Marion, Pat
Fallon, Maurice
Deits, Robin Lloyd Henderson
Valenzuela, Andres Klee
Perez D'Arpino, Claudia
Izatt, Gregory R.
Manuelli, Lucas
Antone, Matthew
Dai, Hongkai
Koolen, Twan
Date Issued
December 26, 2016
Journal
Journal of Field Robotics
Publisher
Wiley Periodicals, Inc.
Citation
Marion, P. et al. "Director: A User Interface Designed for Robot Operation with Shared Autonomy." Journal of Field Robotics, 34, 2 (March 2017): 262-280 © 2016 Wiley Periodicals, Inc.
Version
Author's final manuscript
Abstract
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director—the open-source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole-body controller. Our use of Director at the DRC resulted in efficient high-level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators. We discuss the primary interface elements that comprise Director, and we provide an analysis of its successful use at the DRC.
Subjects
Control and Systems Engineering
Computer Science Applications
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1002/rob.21681
