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Proceedings Paper

Investigation of human-robot interface performance in household environments
Author(s): Sven Cremer; Fahad Mirza; Yathartha Tuladhar; Rommel Alonzo; Anthony Hingeley; Dan O. Popa
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Paper 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.

Paper Details

Date Published: 13 May 2016
PDF: 13 pages
Proc. SPIE 9859, Sensors for Next-Generation Robotics III, 985904 (13 May 2016); doi: 10.1117/12.2224247
Show Author Affiliations
Sven Cremer, Univ. of Texas at Arlington (United States)
Fahad Mirza, Univ. of Texas at Arlington (United States)
Yathartha Tuladhar, Univ. of Texas at Arlington (United States)
Rommel Alonzo, Univ. of Texas at Arlington (United States)
Anthony Hingeley, Univ. of Texas at Arlington (United States)
Dan O. Popa, Univ. of Louisville (United States)

Published in SPIE Proceedings Vol. 9859:
Sensors for Next-Generation Robotics III
Dan Popa; Muthu B. J. Wijesundara, Editor(s)

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