远程控制移动人形机器人的人机协作：躯干-手臂协调
Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots with Torso-Arm Coordination
AI总结：
本文提出人机协作方法，通过协调躯干与手臂运动，提升远程控制移动人形机器人的效率与任务执行能力。
摘要：
近年来，许多人形机器人已被越来越多地部署在各种设施中，包括医院和助老环境中，通常由人类操作员远程控制。其运动学冗余性增强了可达性和操作性，使机器人能够导航复杂的、杂乱的环境并执行广泛的任务。然而，这种冗余性也带来了显著的控制挑战，特别是在协调机器人宏观-微观结构（躯干和手臂）的运动方面。因此，我们提出了多种人机协作（HRC）方法，用于协调远程控制的移动人形机器人的躯干和手臂，旨在平衡自主性和人类输入，以提高系统效率和任务执行能力。所提出的方法包括由人类发起的方法，其中用户手动控制躯干运动，以及由机器人发起的方法，其根据可达性、任务目标或推断的人类意图等因素自主协调躯干和手臂。我们进行了一个用户研究，参与人数为N=17，以比较所提出的方法在任务性能、操作性和能耗方面的表现，并分析了参与者偏好的方法。
英文摘要：
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances reachability and manipulability, enabling them to navigate complex, cluttered environments and perform a wide range of tasks. However, this redundancy also presents significant control challenges, particularly in coordinating the movements of the robot's macro-micro structure (torso and arms). Therefore, we propose various human-robot collaborative (HRC) methods for coordinating the torso and arm of remotely controlled mobile humanoid robots, aiming to balance autonomy and human input to enhance system efficiency and task execution. The proposed methods include human-initiated approaches, where users manually control torso movements, and robot-initiated approaches, which autonomously coordinate torso and arm based on factors such as reachability, task goal, or inferred human intent. We conducted a user study with N=17 participants to compare the proposed approaches in terms of task performance, manipulability, and energy efficiency, and analyzed which methods were preferred by participants.
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