An inexpensive robot platform for teleoperation and experimentation

Lazewatsky, Daniel A.; Smart, William D.

doi:10.1109/icra.2011.5980230

Cited by 19 publications

(10 citation statements)

References 8 publications

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“…A system with multiple off-the-shelf to iRobots attached robots attached to laptops for unconfined video conferencing and contributed with motion planning algorithms that maintains a good frontal view of the local user for as long as possible was introduced in [90]. The WU Telepresence Robot, a low cost robot using off-the-shelf parts and open source software [91], can be ordered online and be assembled within a couple of hours. The WU Telepresence robot uses Ubuntu and ROS.…”

Section: General Mrp Systemsmentioning

confidence: 99%

A Review of Mobile Robotic Telepresence

Kristoffersson

Coradeschi

Loutfi

2013

Advances in Human-Computer Interaction

310

171

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Mobile robotic telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

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Section: General Mrp Systemsmentioning

confidence: 99%

A Review of Mobile Robotic Telepresence

Kristoffersson

Coradeschi

Loutfi

2013

Advances in Human-Computer Interaction

310

171

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“…The target hardware for is the WU Telepresence robot [3] which, like many other telepresence robots, consists of a mobile base, and an approximately human-sized stalk with a screen and motorized pan-tilt camera mounted at the top. Specifically, a Logitech Orbit AF camera is used, which provides 189°pan range and 102°tilt range [4].…”

Section: Hardwarementioning

confidence: 99%

A panorama interface for telepresence robots

Lazewatsky

Smart

2011

Proceedings of the 6th International Conference on Human-Robot Interaction

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Telepresence robots are becoming increasingly popular and are increasingly ready to enter use in the real world as standins for remote humans. It is useful, but currently uncommon, to provide the human operator with an approximation of peripheral vision and the ability to saccade around the scene. We have developed an interface which provides peripheral vision to a remote operator by using a motorized pan-tilt camera to create a panorama, and enables the operator to move the camera's gaze within that panorama.

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“…Instead, distinct packages such as those presented in [12,13,21] provide dedicated interfaces for achieving a particular type of teleoperation control for certain robots. RViz [22] is a popular ROS package that provides an interface for viewing different sensory information such as camera vision, laser scan, and other point cloud data from different robots using the common message types available in ROS.…”

Section: Introductionmentioning

confidence: 99%

“…The ROS “sensor_msgs” package contains a range of ROS messages each describing data for a particular sensor, such as a camera, laser scanner, joystick, or Inertial Measurement Unit (IMU). An application using these ROS sensor messages is discussed in [21] where this information is used to visualize different sensor information.…”

Section: Introductionmentioning

confidence: 99%

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

Mortimer

Horan

Seyedmahmoudian

2017

Sensors

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The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.

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An inexpensive robot platform for teleoperation and experimentation

Cited by 19 publications

References 8 publications

A Review of Mobile Robotic Telepresence

A Review of Mobile Robotic Telepresence

A panorama interface for telepresence robots

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

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