IAGF-SA adds a physically-grounded channel to shared autonomy by modulating robot impedance to convey intent, improving task performance, agreement, and user experience in three scenarios per user studies.
Learning to arbitrate human and robot control using disagreement between sub-policies
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Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
IAGF-SA adds a physically-grounded channel to shared autonomy by modulating robot impedance to convey intent, improving task performance, agreement, and user experience in three scenarios per user studies.