论文标题
Elly：用于机器人操作的实时故障恢复和数据收集系统
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation
论文作者
论文摘要
即使是最强大的自主行为也可能失败。这项研究的目的是在自主任务执行期间恢复和从失败中收集数据，以便将来可以防止它们。我们建议对实时故障恢复和数据收集进行触觉干预。 Elly是一个系统，可以在自主机器人行为和人类干预之间进行无缝过渡，同时从人类恢复策略中收集感觉信息。系统和我们的设计选择在单臂任务上进行了实验验证 - 将灯泡安装在插座中 - 以及双层任务 - 使用配备了4个手指握把的7多型操纵器拧上瓶盖的帽子。在这些示例中，Elly在总共40次运行中实现了超过80％的任务完成。
Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be prevented in the future. We propose haptic intervention for real-time failure recovery and data collection. Elly is a system that allows for seamless transitions between autonomous robot behaviors and human intervention while collecting sensory information from the human's recovery strategy. The system and our design choices were experimentally validated on a single arm task -- installing a lightbulb in a socket -- and a bimanual task -- screwing a cap on a bottle -- using two 7-DOF manipulators equipped 4-finger grippers. In these examples, Elly achieved over 80% task completion during a total of 40 runs.
