A Comparison of Remote Robot Teleoperation Interfaces for General Object Manipulation

By Cassandra Kent, Carl Saldanha, Sonia Chernova. 2017

85 citations recorded by the source corpus.

Robust remote teleoperation of high-DOF manipulators is of critical importance across a wide range of robotics applications. Contemporary robot manipulation interfaces primarily utilize a free-positioning pose specification approach to independently control each axis of translation and orientation in free space. In this work, we present two novel interfaces, constrained positioning and point-and-click, which incorporate scene information, including points-of-interest and local surface geometry, into the grasp specification process. We also present results of a user study evaluation comparing the effects of increased use of scene information in grasp pose specification algorithms for general object manipulation. The results of our study show that constrained positioning and point-and-click significantly outperform the widely used free positioning approach by significantly reducing the number of grasping errors and the number of user interactions required to specify poses. Furthermore, the point-and-click interface significantly increased the number of tasks users were able to complete.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

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In Biomedical Engineering

  1. Ajay Mandlekar
  2. Yuke Zhu
  3. Silvio Savarese
  4. Animesh Garg
  5. Li Fei-Fei

In Control and Systems Engineering

  1. Yuke Zhu
  2. Li Fei-Fei
  3. Ajay Mandlekar
  4. Silvio Savarese
  5. Animesh Garg
  6. Anchit Gupta
  7. Jonathan Booher
  8. Roberto Mart'in-Mart'in

In Mechanical Engineering

  1. Li Fei-Fei
  2. Yuke Zhu
  3. Silvio Savarese
  4. Ajay Mandlekar
  5. Animesh Garg
  6. Jonathan Booher

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