Faculty of Information Technology, BUT

Publication Details

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

MATERNA Zdeněk, ŠPANĚL Michal, MAST Marcus, BERAN Vítězslav, WEISSHARDT Florian, BURMESTER Michael and SMRŽ Pavel. A Remote User Interface for Semi-Autonomous Robots for Elderly Care. Journal of Robotics and Mechatronics, vol. 29, no. 2, pp. 381-394. ISSN 0915-3942.
Czech title
Uživatelské rozhraní pro vzdáleného semiautonomního robota pro péči o seniory
journal article
Materna Zdeněk, Ing. (DCGM FIT BUT)
Španěl Michal, Ing., Ph.D. (DCGM FIT BUT)
Mast Marcus (IAF HDM)
Beran Vítězslav, Ing., Ph.D. (DCGM FIT BUT)
Weisshardt Florian (Fraunhofer IPA)
Burmester Michael (IAF HDM)
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT)

service robot, elderly care, user interface, human-robot interaction
The article describes technical background and experimental evaluation of a novel remote user interface for semi-autonomous robot. 
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.
Journal of Robotics and Mechatronics, vol. 29, no. 2, ISSN 0915-3942
Journal of Robotics and Mechatronics
Fuji Technology Press Ltd.
   author = "Zden\v{e}k Materna and Michal \v{S}pan\v{e}l and Marcus Mast and V\'{i}t\v{e}zslav Beran and Florian Weisshardt and Michael Burmester and Pavel Smr\v{z}",
   title = "Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping",
   pages = "381--394",
   booktitle = "Journal of Robotics and Mechatronics",
   journal = "Journal of Robotics and Mechatronics",
   volume = 29,
   number = 2,
   year = 2017,
   ISSN = "0915-3942",
   doi = "10.20965/jrm.2017.p0381",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/10576"
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