Publication detail

Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping

MATERNA, Z. ŠPANĚL, M. MAST, M. BERAN, V. WEISSHARDT, F. BURMESTER, M. SMRŽ, P.

Original Title

Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping

Type

journal article in Web of Science

Language

English

Original Abstract

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.

Keywords

service robot, elderly care, user interface, human-robot interaction

Authors

MATERNA, Z.; ŠPANĚL, M.; MAST, M.; BERAN, V.; WEISSHARDT, F.; BURMESTER, M.; SMRŽ, P.

Released

1. 4. 2017

ISBN

0915-3942

Periodical

Journal of Robotics and Mechatronics

Year of study

29

Number

2

State

Japan

Pages from

381

Pages to

394

Pages count

12

URL

https://www.fit.vut.cz/research/publication/10576/

BibTex

@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/"
}