用草图控制移动操作机器人，让操作更直观高效。
Sketch Interface for Teleoperation of Mobile Manipulator to Enable Intuitive and Intended Operation: A Proof of Concept
- 用户画草图，系统自动解析并执行任务
- 对比实验显示草图界面减少操作负担
- 适合需要快速交互的机器人应用
近期机器人技术发展凸显了人机协作的重要性。传统接口在机器人自主性与人工监督之间难以平衡，限制了其在复杂任务如移动操作中的应用。本研究旨在开发一种直观界面，使移动操作机器人能自主理解用户绘制的草图，提升用户体验并降低操作负担。我们实现了一个基于网页的应用程序，利用机器学习算法处理草图，可在移动设备上随时随地使用。首次验证中，分析了27个选定任务中用户绘制的自然草图，揭示了草图指令的趋势。第二次验证通过五组抓取任务的对比实验表明，相较于传统的轴向控制界面，草图界面显著降低了操作负荷并提升了直观性。结果表明，该草图接口可提高移动操作机器人的效率，并为多种应用场景下的人机直观协作开辟新路径。
原文摘要 · Abstract (English)
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in complex tasks like mobile manipulation. This study aims to develop an intuitive interface that enables a mobile manipulator to autonomously interpret user-provided sketches, enhancing user experience while minimizing burden. We implemented a web-based application utilizing machine learning algorithms to process sketches, making the interface accessible on mobile devices for use anytime, anywhere, by anyone. In the first validation, we examined natural sketches drawn by users for 27 selected manipulation and navigation tasks, gaining insights into trends related to sketch instructions. The second validation involved comparative experiments with five grasping tasks, showing that the sketch interface reduces workload and enhances intuitiveness compared to conventional axis control interfaces. These findings suggest that the proposed sketch interface improves the efficiency of mobile manipulators and opens new avenues for integrating intuitive human-robot collaboration in various applications.
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