Rapid Human-Computer Interactive Conceptual Design of Mobile and Manipulative Robot Systems.

摘要

This project consists of the development of a software application for the user-guided design of a robotic system in conjunction with a computer-automated optimization system (Fig. 1). In Year 1 (Feb, 2011 - Feb 2012) we demonstrated an initial system for allowing a human user to configure a robot, its environment and to specify a task. In addition, we also demonstrated a paradigm for allowing a human-user to guide an automated optimization / machine learning system to collaborate in solving a problem. In Year 2 (Feb 2012 - Feb 2013) we integrated these two parts into a prototype desktop application and concluded the year with testing the effectiveness of this approach. In year 3 we extended our system so that it can support the crowd-sourcing of robotics by non-expert users: multiple users collectively influence an optimization method (Fig. 2). This final report is organized as follows. Section 2 is an overview of this project and summarizes its goals. Section 3 describes the successful crowdsourcing of robotics: we have shown that, when two non-experts interact with our robotics system, robot controllers are developed more rapidly compared to two users acting independently, or one user working alone. The main new deliverables are the submission of two manuscripts that documents the design, deployment and results from crowdsourcing robotics. Work described in the first manuscript was summarized in the previous QPR. Worked described in the second manuscript are summarized in this Report.