Registering Articulated Objects With Human-in-the-loop Corrections

Hagenow, Michael; Senft, Emmanuel; Laske, Evan; Hambuchen, Kimberly; Fong, Terrence; Radwin, Robert G.; Gleicher, Michael; Mutlu, Bilge; Zinn, Michael

doi:10.1109/iros47612.2022.9981949

Cited by 1 publication

(1 citation statement)

References 24 publications

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“…(4) The worker is presented with the 3D scan of the environment to identify the task geometry. The interface leverages a humanin-the-loop method for geometrically registering objects [21].…”

Section: Structuredmentioning

confidence: 99%

A System for Human-Robot Teaming through End-User Programming and Shared Autonomy

Hagenow,

Senft,

Radwin

et al. 2024

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot assumes the physical task burden and the skilled worker provides both the high-level task planning and low-level feedback necessary to effectively complete the task. In this article, we describe the development of a system for flexible human-robot teaming that combines state-of-the-art methods in end-user programming and shared autonomy and its implementation in sanding applications. We demonstrate the use of the system in two types of sanding tasks, situated in aircraft manufacturing, that highlight two potential workflows within the human-robot teaming setup. We conclude by discussing challenges and opportunities in human-robot teaming identified during the development, application, and demonstration of our system. CCS CONCEPTS• Human-centered computing → Collaborative interaction; • Computer systems organization → Robotic autonomy.

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Section: Structuredmentioning

confidence: 99%