Detail publikace

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.

Originální název

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

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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

Autoři

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

Vydáno

1. 4. 2017

ISSN

0915-3942

Periodikum

Journal of Robotics and Mechatronics

Ročník

29

Číslo

2

Stát

Japonsko

Strany od

381

Strany do

394

Strany počet

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/"
}