Mimic: In-situ recording and re-use of demonstrations to support robot teleoperation
Publication Type
Conference Proceeding Article
Publication Date
11-2022
Abstract
Remote teleoperation is an important robot control method when they cannot operate fully autonomously. Yet, teleoperation presents challenges to effective and full robot utilization: controls are cumbersome, inefficient, and the teleoperator needs to actively attend to the robot and its environment. Inspired by end-user programming, we propose a new interaction paradigm to support robot teleoperation for combinations of repetitive and complex movements. We introduce Mimic, a system that allows teleoperators to demonstrate and save robot trajectories as templates, and re-use them to execute the same action in new situations. Templates can be re-used through (1) macros—parametrized templates assigned to and activated by buttons on the controller, and (2) programs—sequences of parametrized templates that operate autonomously. A user study in a simulated environment showed that after initial set up time, participants completed manipulation tasks faster and more easily compared to traditional direct control.
Keywords
end-user robot programming, Robot teleoperation
Discipline
Information Security
Research Areas
Information Systems and Management
Publication
Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology, Bend, USA, 2022 October 29 - 2 November
ISBN
9781450393201
Identifier
10.1145/3526113.3545639
Publisher
Association for Computing Machinery, Inc
City or Country
New York
Citation
MAHADEVAN, Karthik; CHEN, Yan; CAKMAK, Maya; TANG, Anthony; and GROSSMAN, Tovi.
Mimic: In-situ recording and re-use of demonstrations to support robot teleoperation. (2022). Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology, Bend, USA, 2022 October 29 - 2 November.
Available at: https://ink.library.smu.edu.sg/sis_research/7904
Copyright Owner and License
Authors
Additional URL
https://doi.org/10.1145/3526113.3545639