Imperial College London
Alternate

Professor Yiannis Demiris

Faculty of Engineering, Department of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1011Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Kucukyilmaz:2018:10.1109/TOH.2018.2804911,
author = {Kucukyilmaz, A and Demiris, Y},
doi = {10.1109/TOH.2018.2804911},
journal = {IEEE Transactions on Haptics},
pages = {431--442},
title = {Learning shared control by demonstration for personalized wheelchair assistance},
url = {http://dx.doi.org/10.1109/TOH.2018.2804911},
volume = {11},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - An emerging research problem in assistive robotics is the design of methodologies that allow robots to provide personalized assistance to users. For this purpose, we present a method to learn shared control policies from demonstrations offered by a human assistant. We train a Gaussian process (GP) regression model to continuously regulate the level of assistance between the user and the robot, given the user's previous and current actions and the state of the environment. The assistance policy is learned after only a single human demonstration, i.e., in one-shot. Our technique is evaluated in a one-of-a-kind experimental study, where the machine-learned shared control policy is compared to human assistance. Our analyses show that our technique is successful in emulating human shared control, by matching the location and amount of offered assistance on different trajectories. We observed that the effort requirement of the users were comparable between human-robot and human-human settings. Under the learned policy, the jerkiness of the user's joystick movements dropped significantly, despite a significant increase in the jerkiness of the robot assistant's commands. In terms of performance, even though the robotic assistance increased task completion time, the average distance to obstacles stayed in similar ranges to human assistance.
AU  - Kucukyilmaz,A
AU  - Demiris,Y
DO  - 10.1109/TOH.2018.2804911
EP  - 442
PY  - 2018///
SN  - 1939-1412
SP  - 431
TI  - Learning shared control by demonstration for personalized wheelchair assistance
T2  - IEEE Transactions on Haptics
UR  - http://dx.doi.org/10.1109/TOH.2018.2804911
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000444897800009&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - http://hdl.handle.net/10044/1/65806
VL  - 11
ER  -
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