Two hands are better than one: Assisting users with multi-robot manipulation tasks

摘要

Multi-robot manipulation, where two or more robots cooperatively grasp and move objects, is extremely challenging due to the necessity of tightly coupled temporal coordination between the robots. Unfortunately, introducing a human operator does not necessarily ameliorate performance due to the complexity of teleoperating mobile robots with high degrees of freedom. The human operator's attention is divided not only among multiple robots but also between controlling a robot arm and its mobile base. This complexity substantially increases the potential neglect time, since the operator's inability to effectively attend to each robot during a critical phase of the task leads to a significant degradation in task performance. In this paper, we propose an approach for semi-autonomously performing multi-robot manipulation tasks and demonstrate how our user interface reduces both task completion time and the number of dropped items over a fully teleoperated robotic system. Propagating the user's commands from the actively-controlled robot to the neglected robot allows the neglected robot to leverage this control information and position itself effectively without direct human supervision.