超越Cybathlon：为行动受限者提供按需四足辅助系统
Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility
AI总结：
本文提出一种按需四足辅助机器人系统，结合半自主任务执行与人机协作，通过语义导航和碰撞感知实现环境移动与拾取放置任务，验证了其在日常生活中帮助行动受限者提高独立性的潜力。
摘要：
背景：辅助机器人有潜力提高行动受限者的生活独立性。当前将机械臂附加到电动轮椅上的解决方案在增加尺寸和降低轮椅机动性的同时，提供的额外移动能力有限。方法：本文提出一种按需四足辅助机器人系统，通过共享自主控制方法结合半自主任务执行与人机协作。由于系统的移动性，它可以在需要时协助操作员并独立执行自主任务，而不影响其移动能力。我们自动化了拾取和放置任务以及通过环境的机器人移动，使用语义、碰撞感知的导航。对于人机协作，我们提出了一个口部joystick接口，使操作员在行动受限的情况下能够控制机器人的末端执行器进行精确操作。结果：我们在Cybathlon 2024辅助机器人比赛中展示了系统，并在家庭实验设置中验证了其性能，测量任务完成时间和用户满意度。我们发现系统能够协助广泛的任务，包括需要精细操作的任务。用户研究确认了增加机器人自主性可以减轻操作员的认知负担。结论：我们提出了一种灵活的系统，能够帮助轮椅使用者在日常生活中保持独立性，通过使他们能够解决移动操作问题而无需外部支持。我们在主观指标上实现了与先前最先进的结果相当的结果，同时允许操作员拥有更多的自主性和更灵活的操作能力。
英文摘要：
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer limited additional mobility at the cost of increased size and reduced wheelchair maneuverability. Methods: We present an on-demand quadrupedal assistance robot system controlled via a shared autonomy approach, which combines semi-autonomous task execution with human teleoperation. Due to the mobile nature of the system it can assist the operator whenever needed and perform autonomous tasks independently, without otherwise restricting their mobility. We automate pick-and-place tasks, as well as robot movement through the environment with semantic, collision-aware navigation. For teleoperation, we present a mouth-level joystick interface that enables an operator with reduced mobility to control the robot's end effector for precision manipulation. Results: We showcase our system in the \textit{Cybathlon 2024 Assistance Robot Race}, and validate it in an at-home experimental setup, where we measure task completion times and user satisfaction. We find our system capable of assisting in a broad variety of tasks, including those that require dexterous manipulation. The user study confirms the intuition that increased robot autonomy alleviates the operator's mental load. Conclusions: We present a flexible system that has the potential to help people in wheelchairs maintain independence in everyday life by enabling them to solve mobile manipulation problems without external support. We achieve results comparable to previous state-of-the-art on subjective metrics while allowing for more autonomy of the operator and greater agility for manipulation.
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。
