Computer Engineering Commons^™

Extracting User Intent In Mixed Initiative Teleoperator Control, Andrew H. Fagg, Michael Rosenstein, Robert Platt Jr., Roderic Grupen

Roderic Grupen

User fatigue is common with robot teleoperation interfaces. Mixed initiative control approaches attempt to reduce this fatigue by allowing control responsibility to be shared between the user and an intelligent control system. A critical challenge is how the user can communicate her intentions to the control system in an intuitive manner as possible. In the context of control of a humanoid robot, we propose an interface that uses the movement currently commanded by the user to assess the intended outcome. Specifically, given the observation of the motion of the teleoperated robot for a given period of time, we would like …