网络机器人的可调整自主性

Internet上数据传输的不确定延时妨碍了机器人和操作者之间迅捷而透明地交互, 严重限制了遥操作机器人的性能和应用. 本文研究了机器人的可调整自主性(Adjustable autonomy, AA), 通过改善人机交互来补偿网络通讯存在的不确定延时对系统性能的影响. 机器人的自主性根据当前形势和环境动态调整, 操作者和机器人以适合网络状况和任务需要的模式进行交互和合作, 使得整个系统的效率大大提高. 实验结果证明了所提方法的有效性和可行性.

Adjustable Autonomy for Teleoperated Internet Robots

It is very hard to have a transparent and prompt interaction between user and teleoperated internet robot due to uncertain time delays over the internet, which severely limits performance of teleoperated robot systems. This paper investigates the adjustable autonomy of robots to improve the human-robot interaction so as to compensate for the variable time delay in data transmission over internet. The autonomy of the robot is adjusted dynamically according to the environmental dynamics and network status so that the appropriate interaction pattern suited to the network conditions and task requirements can be carried out between the user and the robot. Consequently, the efficiency of the whole system can be improved to a great extent. Experimental results show the validity and feasibility of the proposed method.