Robotic Manipulation with a Human in the Loop – Accuracy Comparison and Analysis

James Su, Sebastian Schweigert, Sunil Srinivasan, Jiewen Sun and Mark Jouppi

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2015-89
May 14, 2015

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-89.pdf

To truly make automation economical, there needs to be a shift in robotic performance: from highly specific at one task to general-purpose across many tasks. Unfortunately, such additional functionality is not cost-effective without a sacrifice in performance. In the case of robotics, it is a sacrifice in accuracy. This paper first investigates an industry analysis of a general-purpose robot to outline its merits and drawbacks as a competitive product. The paper then delves into more technical detail about how to accommodate the robot's lack in accuracy. Specifically, our method of implementation is to have the robot self-detect when it is too inaccurate to proceed with a task and subsequently request assistance from the human. Here, we utilize the fine-grained capabilities of a human, relatively, in synergistic combination with the efficiency of an inexpensive robot.

Advisor: Ruzena Bajcsy

BibTeX citation:

@mastersthesis{Su:EECS-2015-89,
    Author = {Su, James and Schweigert, Sebastian and Srinivasan, Sunil and Sun, Jiewen and Jouppi, Mark},
    Title = {Robotic Manipulation with a Human in the Loop – Accuracy Comparison and Analysis},
    School = {EECS Department, University of California, Berkeley},
    Year = {2015},
    Month = {May},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-89.html},
    Number = {UCB/EECS-2015-89},
    Abstract = {To truly make automation economical, there needs to be a shift in robotic performance: from highly specific at one task to general-purpose across many tasks. Unfortunately, such additional functionality is not cost-effective without a sacrifice in performance. In the case of robotics, it is a sacrifice in accuracy. This paper first investigates an industry analysis of a general-purpose robot to outline its merits and drawbacks as a competitive product. The paper then delves into more technical detail about how to accommodate the robot's lack in accuracy. Specifically, our method of implementation is to have the robot self-detect when it is too inaccurate to proceed with a task and subsequently request assistance from the human. Here, we utilize the fine-grained capabilities of a human, relatively, in synergistic combination with the efficiency of an inexpensive robot.}
}

EndNote citation:

%0 Thesis
%A Su, James
%A Schweigert, Sebastian
%A Srinivasan, Sunil
%A Sun, Jiewen
%A Jouppi, Mark
%T Robotic Manipulation with a Human in the Loop – Accuracy Comparison and Analysis
%I EECS Department, University of California, Berkeley
%D 2015
%8 May 14
%@ UCB/EECS-2015-89
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-89.html
%F Su:EECS-2015-89