Inference of user qualities in shared control

Urja Acharya, Siya Kunde, Lucas Hall, Brittany A. Duncan, Justin M. Bradley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Users play an integral role in the performance of many robotic systems, and robotic systems must account for differences in users to improve collaborative performance. Much of the work in adapting to users has focused on designing teleoperation controllers that adjust to extrinsic user indicators such as force, or intent, but do not adjust to intrinsic user qualities. In contrast, the Human-Robot Interaction community has extensively studied intrinsic user qualities, but results may not rapidly be fed back into autonomy design. Here we provide foundational evidence for a new strategy that augments current shared control, and provide a mechanism to directly feed back results from the HRI community into autonomy design. Our evidence is based on a study examining the impact of the user quality 'locus of control' on telepresence robot performance. Our results support our hypothesis that key user qualities can be inferred from human-robot interactions (such as through path deviation or time to completion) and that switching or adaptive autonomies might improve shared control performance.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages588-595
Number of pages8
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Acharya, U., Kunde, S., Hall, L., Duncan, B. A., & Bradley, J. M. (2018). Inference of user qualities in shared control. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 588-595). [8461193] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8461193