Development of Shared Autonomy and Virtual Guidance Generation System for Human interactive Teleoperation

Manipulation complexity of teleoperation increases the necessity of shared autonomy. However designing an autonomy while keeping in mind the environmental uncertainty is challenging. This paper proposes shared autonomy and virtual guidance generation for a human interactive teleoperation. The major concept of both shared autonomy and virtual guidance generation is utilizing the cognitive ability of a human operator. In shared autonomy case, the human intention information is provided to the autonomous system in the form of a path which is acquired by our proposed sketch method. Our novel proposed sketch method allows the operator to sketch the path on the visual feedback image of the remote environments and the information is then transmitted to the autonomous system. In virtual guidance generation, we employ human cognitive abilities to assist the computer to generate virtual guidance for teleoperation tasks. The resulting both systems are more efficient and less fatigued than direct teleoperation.