利用协同设计原则即时编写和操作人形机器人行为
Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles
AI总结：
本文利用可供性模板和协同设计原则，通过交互式姿态目标实现人形机器人行为的即时编写，并在Nadia机器人上验证了推门和拾放任务的有效性。
摘要：
人形机器人在为人类建造的世界中执行有用任务具有潜力。然而，与人形机器人沟通意图并与之组队是一个多方面且复杂的问题。在本文中，我们解决了与在真实硬件上快速、交互式编写新机器人行为相关的问题。我们将Affordance Templates（可供性模板）和Coactive Design（协同设计）方法的强大概念引入此问题，以尝试解决并解释它。在我们的方法中，我们使用交互式姿态和手部姿态目标以及其他类型的动作来即时编写人形机器人行为。然后，我们描述了我们的操作员界面如何即时编写行为，并提供了任务接近和开门任务的相互依赖分析图表。我们展示了在Nadia人形机器人上执行推门和拾放任务的真实机器人性能的时间数据。
英文摘要：
Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and complex problem. In this paper, we tackle the problems associated with quickly and interactively authoring new robot behavior that works on real hardware. We bring the powerful concepts of Affordance Templates and Coactive Design methodology to this problem to attempt to solve and explain it. In our approach we use interactive stance and hand pose goals along with other types of actions to author humanoid robot behavior on the fly. We then describe how our operator interface works to author behaviors on the fly and provide interdependence analysis charts for task approach and door opening. We present timings from real robot performances for traversing a push door and doing a pick and place task on our Nadia humanoid robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
