Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to immerse them in the remote environment, but operators still struggle to complete tasks as competently as they could in person. We present a framework for incorporating open-world shared control into avatar robots to combine the benefits of direct and shared control. This framework preserves the fluency of our avatar interface by minimizing obstructions to the operator's view and using the same interface for direct, shared, and fully autonomous control. In a human subjects study (N=19), we find that operators using this framework complete a range of tasks significantly more quickly and reliably than those that do not.

翻译：遥操作化身机器人使人们能够将操作技能应用于难以进入或危险的工作环境。现有系统能够赋予操作者直接控制机器人多个组件的能力，使其沉浸于远程环境中，但操作者仍难以达到与现场操作相当的任务完成能力。本文提出一种将开放世界共享控制融入化身机器人的框架，以整合直接控制与共享控制的优势。该框架通过最小化对操作者视野的遮挡，并采用统一接口实现直接控制、共享控制及全自主控制，从而保持了化身界面的流畅性。一项人类受试者研究（N=19）表明，使用该框架的操作者在完成各类任务时，其速度与可靠性均显著优于未使用该框架的操作者。