Human-robot teaming with human intent prediction and shared control

Zongyao Jin; Prabhakar R. Pagilla

doi:10.1117/12.2559296

21 April 2020 Human-robot teaming with human intent prediction and shared control

Zongyao Jin, Prabhakar R. Pagilla

Proceedings Volume 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II; 114130X (2020) https://doi.org/10.1117/12.2559296
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

Abstract

This paper describes a set of shared control technical tools for intelligent teaming of a human operator and a robotic manipulator, and provides experimental evaluation of those tools. These technical tools can provide the human operator with an intuitive operational interface to command a multiple degree-of-freedom robotic manipulator via a general-purpose game controller and provide intelligent assistance to the human operator with human intent prediction and shared control. Two cameras with vision-feedback mounted on the robot end-effector are utilized to capture visual information and identify the location of the target object through which potential automatic control input for making adjustment to the robot motion is generated. A method to predict operator’s intent by comparing human input and automatic control input is introduced and employed to generate a probability with which the two inputs are dynamically combined to command the robot through human-machine shared control. An experimental platform consisting of a six degree-of-freedom industrial robot with a gripper and cameras is employed; results are provided with a human operator commanding the robot manipulator to execute an object inspection and handling task with the assistance of the proposed intelligent teaming algorithm.

Conference Presentation

Citation Download Citation

Zongyao Jin and Prabhakar R. Pagilla "Human-robot teaming with human intent prediction and shared control", Proc. SPIE 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II, 114130X (21 April 2020); https://doi.org/10.1117/12.2559296

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