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Adjustable autonomy for mobile teleoperation of personal service robots

Sebastian Muszynski, Jorg Stuckler, Sven Behnke
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
In this paper, we propose a novel user interface for personal service robots that allows the user to teleoperate the robot using handheld computers.  ...  In a qualitative user study we evaluate usability aspects of our teleoperation interface with our domestic service robots Cosero and Dynamaid.  ...  HANDHELD USER INTERFACES So far, we presented speech and gestures as natural modalities for face-to-face human-robot interaction.  ... 
doi:10.1109/roman.2012.6343870 dblp:conf/ro-man/MuszynskiSB12 fatcat:iuuae7f2xfh55puxue4owrazg4

Novel interfaces for remote driving: gesture, haptic, and PDA

Terrence W. Fong, Francois Conti, Sebastien Grange, Charles Baur, Howie M. Choset, Douglas W. Gage, Matthew R. Stein
2001 Mobile Robots XV and Telemanipulator and Telepresence Technologies VII  
We also discuss research issues related to the use of gesture, haptics, and palm-size computers for remote driving.  ...  To address this need, we have developed three novel user interfaces: GestureDriver, HapticDriver and PdaDriver. In this paper, we present the motivation for and design of each interface.  ...  This work was partially supported by the DARPA ITO Mobile Autonomous Robot Software program (SAIC/CMU task) and the Swiss Commission for Technology and Innovation (CTI project 4327.1).  ... 
doi:10.1117/12.417314 dblp:conf/mr/FongCGB00 fatcat:2drzqwip7zdkbgtp26wvltbjeq

Cognitive Human Machine Interface of Workpartner Robot

Jussi Suomela, Aarne Halme
2001 IFAC Proceedings Volumes  
The robot control is based on human speech and gestures instead of keyboard or joystick control. Robot can also respond by using speech and gestures.  ...  Cognitive control is a new method for more human like interactive control of autonomous work machines especially service robots.  ...  CONCLUSIONS Cognitive HMI is a novel interface for mobile service and work robots.  ... 
doi:10.1016/s1474-6670(17)33112-9 fatcat:cy5xfu6kjbeflkdbbwzmpqquzy


Jussi Suomela, Aarne Halme
2002 IFAC Proceedings Volumes  
Commands and supervision are made based on cognition by speech and gestures -the most natural communication for humans.  ...  A novel control interface is presented, which considerably improves the communication and interaction between robot and operator.  ...  All gestures can also been used during this phase. The robot responds with speech and gestures. Manipulator teleoperation.  ... 
doi:10.3182/20020721-6-es-1901.00817 fatcat:eukfnedr5rakxjtbodfwynimrq

Telepresence Interaction by Touching Live Video Images [article]

Yunde Jia, Bin Xu, Jiajun Shen, Mintao Pei, Zhen Dong, Jingyi Hou, Min Yang
2016 arXiv   pre-print
The core of the framework is a new user interface, Touchable live video Image based User Interface, called TIUI.  ...  This paper presents a telepresence interaction framework based on touchscreen and telepresence-robot technologies.  ...  performed at the lower part of the TIUI to teleoperate the mobile robot base of the Mcisbot.  ... 
arXiv:1512.04334v2 fatcat:64r4mzrgq5gzzmynjstmilccum

Comparing Heads-up, Hands-free Operation of Ground Robots to Teleoperation

Matthew Marge, Aaron Powers, Jonathan Brookshire, Trevor Jay, Odest Jenkins, Christopher Geyer
2011 Robotics: Science and Systems VII  
In this paper, we propose an alternative called Heads-up, Hands-free Operation, which allows an operator to control a UGV using operator following behaviors and a gesture interface.  ...  load than they did when they teleoperated the robot.  ...  A number of promising works have demonstrated the feasibility of gestures in human-robot interfaces.  ... 
doi:10.15607/rss.2011.vii.027 dblp:conf/rss/MargePBJJG11 fatcat:2bpao5hk3fehljus47pli4qx3u

Interacting With a Mobile Robot with a Natural Infrastructure-Less Interface

Valeria Villani, Lorenzo Sabattini, Giuseppe Riggio, Alessio Levratti, Cristian Secchi, Cesare Fantuzzi
2017 IFAC-PapersOnLine  
The proposed interaction system is evaluated experimentally with different users controlling a mobile robot and compared to the use of a remote control device for the teleoperation of robots.  ...  Results show that the usability and effectiveness of the proposed natural interaction system based on the use of a smartwatch provide significant improvement in the human-robot interaction experience.  ...  by the human-robot interface.  ... 
doi:10.1016/j.ifacol.2017.08.1829 fatcat:5faxjq3jpnb7dlret2gzzbhzoy

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display [article]

Roman Ibrahimov, Evgeny Tsykunov, Vladimir Shirokun, Andrey Somov, and Dzmitry Tsetserukou
2019 arXiv   pre-print
The human operator teleoperates the quadcopter by changing the position of the hand.  ...  We report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter.  ...  Another teleoperated control system is proposed in [11] where a mobile slave robot is controlled using a joystick from which the robot receives human operator's commands.  ... 
arXiv:1908.02432v1 fatcat:5ijelb3i2vbdpibjnyqicru3eq

Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics [article]

Matteo Macchini, Jan Frogg, Fabrizio Schiano, Dario Floreano
2020 arXiv   pre-print
Among the different methods used to map human gestures into robot commands, data-driven approaches select a set of body segments and transform their motion into commands for the robot based on the users  ...  Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems.  ...  was partially funded by the European Union's Horizon 2020 research and innovation programme under grant agreement ID: 871479 AERIAL-CORE and by the Swiss National Science Foundation through grant NCCR Robotics  ... 
arXiv:2011.07591v1 fatcat:7pzfpuiub5hh7nqrngmjj3f7za

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

Guoniu Zhu, Xiao Xiao, Changsheng Li, Jin Ma, Godwin Ponraj, A. V. Prituja, Hongliang Ren
2020 Applied Sciences  
A Leap Motion Controller is used to track the motion of two human hands, while each hand is utilized to teleoperate one robotic gripper. The second one is the haptic devices and the robotic arms.  ...  A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system.  ...  Du and Zhang developed a Kinect-based noncontact human-robot interface for potential bimanual tasks [22] . Human gestures were recorded as the command in the bimanual teleoperation.  ... 
doi:10.3390/app10062086 fatcat:6ozghvf6zvfybegl2y36dlptjy

Know thy user: Designing human-robot interaction paradigms for multi-robot manipulation

Bennie Lewis, Gita Sukthankar
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
There are several proven paradigms for increasing the efficacy of human-robot interaction: 1) multimodal interfaces in which the user controls the robots using voice and gesture; 2) configurable interfaces  ...  a human-robot interaction system meant to be used for an extended period of time.  ...  For this paper we developed a bimanual gesture-based interface for modifying the arm position of the robots.  ... 
doi:10.1109/iros.2014.6943179 dblp:conf/iros/LewisS14 fatcat:3tunckfqyfggbdj3imsmnezmua

Towards human-friendly efficient control of multi-robot teams

Adrian Stoica, Theodoros Theodoridis, Huosheng Hu, Klaus McDonald-Maier, David F. Barrero
2013 2013 International Conference on Collaboration Technologies and Systems (CTS)  
An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL.  ...  This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control.  ...  Barerro was supported by the University of Alcalá Mobility Grant. We thank Dr Y. Iwashita and Mr L. B. Clark for their support in the implementation of the experiments.  ... 
doi:10.1109/cts.2013.6567233 dblp:conf/cts/StoicaTHMB13 fatcat:kwcu2atwlzaxve2jiwttqyxpi4

TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface

Robert Valner, Karl Kruusamäe, Mitch Pryor
2018 Robotics  
Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk.  ...  The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access.  ...  The Human-Robot Interface (HRI) agent directs teleoperation system based on operator input and feedback data. It is also responsible for keeping track of the system's overall status.  ... 
doi:10.3390/robotics7010009 fatcat:nq2dgn2arvhgpdxxjnqbl2p66e

Neural Network Based Lidar Gesture Recognition for Realtime Robot Teleoperation [article]

Simon Chamorro, Jack Collier, François Grondin
2021 arXiv   pre-print
We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation.  ...  We report experimental results for each module of our system and demonstrate its effectiveness by testing it in a real-world robot teleoperation setting.  ...  The system has been integrated onto a large ground robot allowing for gesture-based teleoperation as well as autonomous leaderfollower behaviours.  ... 
arXiv:2109.08263v1 fatcat:hkep2ke4ifdetj3cx3iprgmugy

Interactions Between Human and Robot — Case Study: WorkPartner-Robot in the ISR 2004 Exhibition [chapter]

S. Ylönen, M. Heikkilä, P. Virekoski
2005 Climbing and Walking Robots  
During the five days a lot of information was collected about human-machine interaction. The robot communicated with humans using speech and gestures, and observed environment using vision system.  ...  WorkPartner is a mobile interactive service robot designed for lightweight outdoor tasks in co-operation with humans.  ...  The operator drove the robot using a joystick and a teleoperation device for the humanlike manipulator (Fig. 4) . Appearance is very important for a robot that works interactively with humans.  ... 
doi:10.1007/3-540-29461-9_107 fatcat:7oobqmww4jflvdyvjhanlwdcl4
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