Detail výsledku

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

MATERNA, Z.; ŠPANĚL, M.; MAST, M.; BERAN, V.; WEISSHARDT, F.; BURMESTER, M.; SMRŽ, P. Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping. Journal of Robotics and Mechatronics, 2017, vol. 29, no. 2, p. 381-394. ISSN: 0915-3942.
Typ
článek v časopise
Jazyk
anglicky
Autoři
Materna Zdeněk, Ing., Ph.D., UPGM (FIT)
Španěl Michal, doc. Ing., Ph.D., UPGM (FIT)
Mast Marcus
Beran Vítězslav, doc. Ing., Ph.D., UPGM (FIT)
Weisshardt Florian
Burmester Michael
Smrž Pavel, doc. RNDr., Ph.D., UPGM (FIT)
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.

Klíčová slova


service robot, elderly care, user interface, human-robot interaction

Rok
2017
Strany
381–394
Časopis
Journal of Robotics and Mechatronics, roč. 29, č. 2, ISSN 0915-3942
Kniha
Journal of Robotics and Mechatronics
DOI
10.20965/jrm.2017.p0381
UT WoS
000399921500012
EID Scopus
2-s2.0-85018664922
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 Relying on Semi-Autonomy and 3D Environment Mapping",
  journal="Journal of Robotics and Mechatronics",
  year="2017",
  volume="29",
  number="2",
  pages="381--394",
  doi="10.20965/jrm.2017.p0381",
  issn="0915-3942",
  url="https://www.fit.vut.cz/research/publication/10576/"
}
Soubory
Projekty
Centrum excelence IT4Innovations, MŠMT, Operační program Výzkum a vývoj pro inovace, ED1.1.00/02.0070, zahájení: 2011-01-01, ukončení: 2015-12-31, ukončen
Centrum kompetence ve zpracování vizuálních informací (V3C - Visual Computing Competence Center), TAČR, Centra kompetence, TE01020415, zahájení: 2012-05-01, ukončení: 2019-12-31, ukončen
SRS - Multi-Role Shadow Robotic System for Independent Living, EU, Seventh Research Framework Programme, 7E12056, zahájení: 2011-09-01, ukončení: 2013-04-30, ukončen
Zpracování, zobrazování a analýza multimediálních a 3D dat, VUT, Vnitřní projekty VUT, FIT-S-17-3984, zahájení: 2017-03-01, ukončení: 2020-02-29, ukončen
Výzkumné skupiny
Výzkumná skupina robotiky Robo@FIT (VZ ROBO)
Pracoviště
Ústav počítačové grafiky a multimédií (UPGM)
Nahoru