We present and evaluate an approach for human-in-the-loop specification of robot–object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to delineate a complex task. The goal is to explore simplified CAD-like interfaces to permit novice users to describe and annotate manipulation tasks that are then carried out by a robot. The constructed models meet precision requirements for modeling a variety of joint types and kinematic chains, and can be re-used after their initial design. The approach is contrasted with teleoperation and tested with a user study. We found that untrained users can create object models whose structure can be readily used to initialize joint constraints to guide the user in designing successful end-effector trajectories. We see this approach as an alternative to direct teleoperation for cases where it is more natural or practical to store the action sequence with the object as the reference frame. The approach was evaluated using the PR2 robot platform.

我们提出并评估了一种人机交互规范的方法。我们的方法基于模型注释的思想：向底层对象模型添加简单的线索来描述复杂的任务。目标是探索简化的类似 CAD 的界面，以允许新手用户描述和注释然后由机器人执行的操作任务。构建的模型满足建模各种关节类型和运动链的精度要求，并且可以在初始设计后重复使用。该方法与远程操作进行了对比，并通过用户研究进行了测试。我们发现未经训练的用户可以创建对象模型，其结构可以很容易地用于初始化关节约束，以指导用户设计成功的末端执行器轨迹。我们将这种方法视为直接遥操作的替代方法，适用于以对象作为参考框架存储动作序列更自然或更实用的情况。该方法使用 PR2 机器人平台进行评估。