Director: A User Interface Designed for Robot Operation with Shared Autonomy
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enou...
| Main Authors: | , , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley Periodicals, Inc.
2019
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| Online Access: | https://hdl.handle.net/1721.1/122825 |
| _version_ | 1826191251081265152 |
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| author | Marion, Pat Fallon, Maurice Deits, Robin Lloyd Henderson Valenzuela, Andres Klee Perez D'Arpino, Claudia Izatt, Gregory R. Manuelli, Lucas Antone, Matthew Dai, Hongkai Koolen, Twan Carter, John Kuindersma, Scott Tedrake, Russell L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Marion, Pat Fallon, Maurice Deits, Robin Lloyd Henderson Valenzuela, Andres Klee Perez D'Arpino, Claudia Izatt, Gregory R. Manuelli, Lucas Antone, Matthew Dai, Hongkai Koolen, Twan Carter, John Kuindersma, Scott Tedrake, Russell L |
| author_sort | Marion, Pat |
| collection | MIT |
| description | Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director—the open-source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole-body controller. Our use of Director at the DRC resulted in efficient high-level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators. We discuss the primary interface elements that comprise Director, and we provide an analysis of its successful use at the DRC. |
| first_indexed | 2024-09-23T08:52:59Z |
| format | Article |
| id | mit-1721.1/122825 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T08:52:59Z |
| publishDate | 2019 |
| publisher | Wiley Periodicals, Inc. |
| record_format | dspace |
| spelling | mit-1721.1/1228252022-09-30T11:54:49Z Director: A User Interface Designed for Robot Operation with Shared Autonomy Marion, Pat Fallon, Maurice Deits, Robin Lloyd Henderson Valenzuela, Andres Klee Perez D'Arpino, Claudia Izatt, Gregory R. Manuelli, Lucas Antone, Matthew Dai, Hongkai Koolen, Twan Carter, John Kuindersma, Scott Tedrake, Russell L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Control and Systems Engineering Computer Science Applications Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director—the open-source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole-body controller. Our use of Director at the DRC resulted in efficient high-level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators. We discuss the primary interface elements that comprise Director, and we provide an analysis of its successful use at the DRC. United States. Defense Advanced Research Projects Agency. (Air Force Research Laboratory (award FA8750-12-1-0321)) United States. Office of Naval Research (Award N00014-12-1-0071) 2019-11-11T23:59:31Z 2019-11-11T23:59:31Z 2016-12-26 2019-07-11T13:19:35Z Article http://purl.org/eprint/type/JournalArticle 1556-4959 1556-4967 https://hdl.handle.net/1721.1/122825 Marion, P. et al. "Director: A User Interface Designed for Robot Operation with Shared Autonomy." Journal of Field Robotics, 34, 2 (March 2017): 262-280 © 2016 Wiley Periodicals, Inc. en https://doi.org/10.1002/rob.21681 Journal of Field Robotics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Wiley Periodicals, Inc. MIT web domain |
| spellingShingle | Control and Systems Engineering Computer Science Applications Marion, Pat Fallon, Maurice Deits, Robin Lloyd Henderson Valenzuela, Andres Klee Perez D'Arpino, Claudia Izatt, Gregory R. Manuelli, Lucas Antone, Matthew Dai, Hongkai Koolen, Twan Carter, John Kuindersma, Scott Tedrake, Russell L Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title | Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title_full | Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title_fullStr | Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title_full_unstemmed | Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title_short | Director: A User Interface Designed for Robot Operation with Shared Autonomy |
| title_sort | director a user interface designed for robot operation with shared autonomy |
| topic | Control and Systems Engineering Computer Science Applications |
| url | https://hdl.handle.net/1721.1/122825 |
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