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For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a broad range of capabilities. CoSTAR: the Collaborative System for Task Automation and Recognition is our winning entry in the 2016 KUKA Innovation Award competition...
We report the development and a preliminary multi-user evaluation of an assisted teleoperation architecture for assembly tasks over high-latency networks. While such tasks still require human insight, there are often elements of these tasks which can be executed autonomously. Our architecture contextualizes a user's intended actions in a remote scene. It assists the user by performing the intended...
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