Publication Details
Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping
Španěl Michal, Ing., Ph.D. (DCGM)
Mast Marcus
Beran Vítězslav, doc. Ing., Ph.D. (DCGM)
Weisshardt Florian
Burmester Michael
Smrž Pavel, doc. RNDr., Ph.D. (DCGM)
service robot, elderly care, user interface, human-robot interaction
Despite remarkable progress of service robotics in recent years, it seems that a fully autonomous robot which would be able to solve everyday household tasks in a safe and reliable manner is still unachievable. To overcome this problem, we present solution for a semi-autonomous robot where a remote human operator may take over the robot control from an autonomous system to quickly asses the situation and carry out subtasks which cannot be finished automatically. A key component of our solution is the user interface based on a mixed reality 3D environment and fused sensor data which provides a high level of situational and spatial awareness for teleoperation as well as for telemanipulation. The robot control is based on low-cost commodity hardware, optionally including a 3D mouse and stereoscopic display. The interface requires only a brief training and allows short task completion times even when operated by novice users. Its usefulness was verified in two controlled experiments.
@article{BUT135900,
author="Zdeněk {Materna} and Michal {Španěl} and Marcus {Mast} and Vítězslav {Beran} and Florian {Weisshardt} and Michael {Burmester} and Pavel {Smrž}",
title="Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping",
journal="Journal of Robotics and Mechatronics",
year="2017",
volume="29",
number="2",
pages="381--394",
doi="10.20965/jrm.2017.p0381",
issn="0915-3942",
url="https://www.fit.vut.cz/research/publication/10576/"
}