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

Anglický název

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

Jazyk

en

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.

Anglický 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.

Dokumenty

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",
  annote="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.",
  address="NEUVEDEN",
  booktitle="Journal of Robotics and Mechatronics",
  chapter="135900",
  doi="10.20965/jrm.2017.p0381",
  edition="NEUVEDEN",
  howpublished="print",
  institution="NEUVEDEN",
  number="2",
  volume="29",
  year="2017",
  month="april",
  pages="381--394",
  publisher="NEUVEDEN",
  type="journal article in Web of Science"
}