Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation
Pinhao Song,Pengteng Li,Erwin Aertbeliën,Renaud Detry,Pinhao Song,Pengteng Li,Erwin Aertbeliën,Renaud Detry
We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion’s onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, by reducing the operator’s cognitive load through assistance in their anticipated direction of motion. Our novel intent estimator, dubbed the Robot Trajectron (RT), produces a probabilisti...
