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Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping

 
: Zdenek, Materna; Spanel, Michal; Mast, Marcus; Beran, Vítezslav; Weißhardt, Florian; Burmester, Michael; Smrz, Pavel

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Journal of Robotics and Mechatronics 29 (2017), Nr.2, S.381-394
ISSN: 0915-3942
ISSN: 1883-8049
Englisch
Zeitschriftenaufsatz
Fraunhofer IPA ()
Serviceroboter; User Interface; Teleoperation; Robotersteuerung

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. Under certain circumstances, a robot’s abilities might be supported by a remote operator. In order to allow such support, we present a user interface for a semi-autonomous assistive robot allowing a non-expert user to quickly asses the situation on a remote site and carry out subtasks which cannot be finished automatically. The user interface is 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. Robot control is based on low-cost commodity hardware, optionally including a 3D mouse and stereoscopic display. The user interface was developed in a human-centered design process and continuously improved based on the results of five evaluations with a total of 81 novice users.

: http://publica.fraunhofer.de/dokumente/N-453493.html