13 May 2016 Investigation of human-robot interface performance in household environments
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Abstract
Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.
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Sven Cremer, Fahad Mirza, Yathartha Tuladhar, Rommel Alonzo, Anthony Hingeley, Dan O. Popa, "Investigation of human-robot interface performance in household environments", Proc. SPIE 9859, Sensors for Next-Generation Robotics III, 985904 (13 May 2016); doi: 10.1117/12.2224247; https://doi.org/10.1117/12.2224247
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