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

Copyright Owner and License

Authors

Additional URL

https://doi.org/10.1145/3526113.3545639

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