13 May 2016 Investigation of human-robot interface performance in household environments
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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, Sven Cremer, Fahad Mirza, Fahad Mirza, Yathartha Tuladhar, Yathartha Tuladhar, Rommel Alonzo, Rommel Alonzo, Anthony Hingeley, Anthony Hingeley, Dan O. Popa, 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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