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首页> 外文学位 >Language based shared control of a mobile-manipulator robotic assistant for quadriplegics.
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Language based shared control of a mobile-manipulator robotic assistant for quadriplegics.

机译：基于语言的四足动物移动机械手机器人助手共享控制。

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摘要

Human-directed control of a mobile redundant-articulated-manipulator is a challenging task using traditional joystick based approaches. For individuals suffering from quadriplegia, addition of another constraint --- inability to move and feel both arms and both legs --- makes the task significantly harder. In this research, we propose a language-based shared control strategy to navigate in home environments.;Spoken or typed natural language interface is more intuitive and offers flexibility to command using high-level description such as "Go to a certain place", besides giving finer-scale control over position and orientation of the robot. We contribute a vocabulary of instructions to be used with mobile-manipulator robotic systems, with focus on retrieving objects in the environment. Each command is paired with robot action and/or available sensory information by converting raw language instructions to a machine processable representation. New locations on the map can be learnt and updated as well as new objects with their corresponding fiducial markers. We also facilitate conditional loop instructions using perceived knowledge about the presence of objects in the field of view.;Two control modes are used. For the low-level control, user specified translation motion of the manipulator end-effector determines the combined arm and base motion such that the mobile base movement happens when the manipulator arm is at workspace boundary, otherwise, only the arm moves to fulfill user command. Another on-the-fly equality constraint is added to this when the movement is desired while keeping user-selected object aligned with the end-effector center. In the prior work, end-effector orientation is fixed with respect to base or is manually controlled by switching between translation and rotation modes. This makes picking objects placed behind other objects or picking small objects placed away from the edge impossible or extremely difficult. Our proposed approach with autonomous orientation infused with user controlled translation proves to make such tasks easier.;In the second control mode, autonomous navigation to landmarks is provided using navigation stack and localization framework available in ROS. Switching between the two control modes takes place in the background based on the instruction type.;Thus, a complete end-to-end system to fetch an object is presented wherein the user can instruct the robot to reach a desired location, then bring the object in view by either using direct or conditional instructions. This is followed by instructions to move towards the object, align the end effector center with it and grasp it. Finally, the robot can be instructed to bring it back. We implement the proposed algorithm on a dual-arm Baxter robot mounted on a wheelchair base in simulation. Example scenarios are used to showcase effectiveness of the algorithm and related videos are provided. We also discuss possible future extensions to this research.
机译：使用传统的基于操纵杆的方法，人为控制移动冗余铰接机械手是一项具有挑战性的任务。对于患有四肢瘫痪的人，增加了另一个限制-无法移动和感觉到双手和双腿-使得任务变得更加困难。在这项研究中，我们提出了一种在家庭环境中导航的基于语言的共享控制策略。；口头或键入自然语言界面更直观，并且使用诸如“转到特定位置”之类的高级描述提供了灵活的命令控制。可以对机器人的位置和方向进行更精细的控制。我们提供了与移动机械手机器人系统一起使用的说明词汇，重点是检索环境中的对象。通过将原始语言指令转换为机器可处理的表示，将每个命令与机器人动作和/或可用的感官信息配对。可以学习和更新地图上的新位置以及带有其相应基准标记的新对象。我们还使用关于视野中对象存在的感知知识来促进条件循环指令的使用。使用两种控制模式。对于低级控制，机械手末端执行器的用户指定平移运动确定了机械臂和基础运动的组合，从而当机械臂处于工作空间边界时发生可移动基础运动，否则，只有机械臂移动才能满足用户命令。当需要移动时，在保持用户选择的对象与末端执行器中心对齐的同时，向此对象添加了另一个即时相等约束。在现有技术中，末端执行器的方向相对于基座是固定的，或者通过在平移和旋转模式之间切换来手动控制。这使得拾取放置在其他对象后面的对象或拾取放置在远离边缘的小对象变得不可能或非常困难。我们提出的带有自主方向并结合了用户控制的翻译的方法被证明使此类任务变得更容易。在第二种控制模式下，使用ROS中可用的导航堆栈和定位框架提供了对地标的自主导航。两种控制模式之间的切换是根据指令类型在后台进行的。因此，提出了一个完整的端到端系统来提取对象，其中用户可以指示机器人到达所需位置，然后将机器人带到目标位置。通过使用直接或有条件的指令来查看对象。接下来是指示，朝对象移动，将末端执行器中心与对象对齐并抓住它。最后，可以指示机器人将其放回原处。在仿真中，我们在安装在轮椅底座上的双臂式Baxter机器人上实现了该算法。示例场景用于展示算法的有效性，并提供了相关视频。我们还将讨论该研究可能的未来扩展。

著录项

  • 作者

    Kaur, Chintan.;

  • 作者单位

    Rensselaer Polytechnic Institute.;

  • 授予单位 Rensselaer Polytechnic Institute.;
  • 学科 Robotics.;Engineering.;Language.
  • 学位 M.S.
  • 年度 2016
  • 页码 101 p.
  • 总页数 101
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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