The article discusses the Robot Trajectron (RT), a new intent estimator that predicts a robot’s trajectory based on its recent position, velocity, and acceleration history. Unlike state-of-the-art models that only use a robot’s position, RT takes arm dynamics into account, making it suitable for tasks where the operator’s intent may change. The authors propose a shared-control solution that combines RT’s predictive capacity with a representation of potential reaching targets. The results show that RT is effective in intent estimation and shared-control tasks.
Publication date: 6 Feb 2024
Project Page: https://github.com/mousecpn/Robot-Trajectron.git
Paper: https://arxiv.org/pdf/2402.02499
