A System for Human-Robot Teaming through End-User Programming and Shared Autonomy
Name
3610977.3634965.pdf
Size
8.03 MB
Format
Adobe PDF
Checksum (MD5)
3fa71ba09a4edc16db0c96e292e749b9
Author(s)
Hagenow, Michael
Senft, Emmanuel
Radwin, Robert
Gleicher, Michael
Zinn, Michael
Mutlu, Bilge
Date Issued
March 11, 2024
Publisher
ACM
Citation
Hagenow, Michael, Senft, Emmanuel, Radwin, Robert, Gleicher, Michael, Zinn, Michael et al. 2024. "A System for Human-Robot Teaming through End-User Programming and Shared Autonomy."
Version
Final published version
Abstract
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot assumes the physical task burden and the skilled worker provides both the high-level task planning and low-level feedback necessary to effectively complete the task. In this article, we describe the development of a system for flexible human-robot teaming that combines state-of-the-art methods in end-user programming and shared autonomy and its implementation in sanding applications. We demonstrate the use of the system in two types of sanding tasks, situated in aircraft manufacturing, that highlight two potential workflows within the human-robot teaming setup. We conclude by discussing challenges and opportunities in human-robot teaming identified during the development, application, and demonstration of our system.
Description
HRI ’24, March 11–14, 2024, Boulder, CO, USA
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1145/3610977.3634965
