Assistive Robot Teleoperation Using Behavior Trees

RWTH Publications (RWTH Aachen)

Abstract

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution.

Authors 3

1. Mohamed Behery Aachen Knowledge-Based Systems Group

   RWTH Aachen University

   Affiliation as printed

   Knowledge-Based Systems Group RWTH Aachen University Aachen , Germany

2. Christian Brecher Aachen Laboratory of Machine Tools and Production Engineering

   RWTH Aachen University

   Affiliation as printed

   Laboratory of Machine Tools and Production Engineering RWTH Aachen University Aachen , Germany

3. Gerhard Lakemeyer Aachen Knowledge-Based Systems Group

   RWTH Aachen University

   Affiliation as printed

   Knowledge-Based Systems Group RWTH Aachen University Aachen , Germany