Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces. Sharp, A., Kruusamäe, K., Ebersole, B., & Pryor, M. In 2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pages 1–6, March, 2017.
doi  abstract   bibtex   
This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.
@inproceedings{sharp_semiautonomous_2017,
	title = {Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces},
	copyright = {All rights reserved},
	doi = {10.1109/ARSO.2017.8025195},
	abstract = {This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.},
	booktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},
	author = {Sharp, A. and Kruusamäe, K. and Ebersole, B. and Pryor, M.},
	month = mar,
	year = {2017},
	keywords = {Hardware, Levels of autonomy, Manipulators, Mobile communication, MoveIt!, ROS, ROS-I, RViz, Robot kinematics, Robot sensing systems, Service robots, VaultBot dual-arm mobile manipulator, high-precision, human-centered approach, human-robot interaction, industrial manipulators, intuitive supervisory user interfaces, manipulators, mobile robots, motion coordination, mouse-based interactive markers, overly complex integration, robot operating system, robot programming, scalable, semi-autonomous behavoirs, semiautonomous dual-arm mobile manipulator system, sensor data fusion, sensor fusion, teleoperation, telerobotics, user control, user interfaces},
	pages = {1--6},
}

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