Teleoperation of a robot manipulator using a vision-based human-robot interface

Kofman, Jonathan; Wu, Xianghai; Luu, T.J.; Verma, Shalini

doi:10.1109/tie.2005.855696

Cited by 294 publications

(189 citation statements)

References 10 publications

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“…The literature for traded control has typically focused on trading control between full autonomous control and full manual (user) control [12], [13]. In [12], the autonomous agent would take control when precise movements are needed during grasping with the user in full control otherwise.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface

O'Keeffe

Ward

Villing

2016

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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Abstract-In multi-robot control, robots need the ability to perform well in the absence of valid human input. This paper describes a shared control scheme for multiple robots where control can be traded between human and autonomous agents on the fly, reducing the negative effect of robots requiring attention while the user's attention is devoted elsewhere. The control approach is a hybrid of traded control where the control is traded between the human and autonomous agents and coordinated control where high level human user commands are mapped to low level implementation under partial control of the autonomous system. An allocation authority decides whether the user or autonomous agent is controlling the robot at a given time based on a command context. This allocation authority control scheme is compared to a coordinated control scheme in a multirobot soccer domain. The results demonstrate that an allocation authority approach produces improved task performance and may have generalizable applicability. Specifically in the context of robotic soccer, the proposed control scheme was shown to have 18.5% more possession and 8.2% more territory than traded control while also reducing mental demands on users.

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Section: Related Workmentioning

confidence: 99%

“…In [12], the autonomous agent would take control when precise movements are needed during grasping with the user in full control otherwise. Examining whether the user or the autonomous agent should initiate traded control was examined in [13].…”

Section: Related Workmentioning

confidence: 99%

Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface

O'Keeffe

Ward

Villing

2016

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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“…Mobility aids [14], manipulation aids [15], therapeutic aids [16], surgical robots [17], physical and mental rehabilitation robots [18] [19], medication reminding robots [8] and elder-care robots [20] [21] are some examples . Among these solutions, 'socially assistive robots' belong to a distinct category.…”

Section: Introductionmentioning

confidence: 99%

An efficient programming framework for socially assistive robots based on separation of robot behavior description from execution

Jayawardena

Kuo

MacDonald

2013

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)

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Abstract-One of the main challenges in socially assistive robotics is providing flexible and easy-to-use programming tools for users. Unlike other robots, designing socially assistive robots includes the subject-matter-experts (SMEs) from nonengineering disciplines. Therefore, the provided tools should be suitable for users with less programming experience. On the other hand, socially assistive robotic research involves field trials and user-centric studies, in which user and subject matter expert comments are used to improve the robot applications. Therefore, field programmability and customizability are key requirements. This paper presents a programming framework for socially assistive robots, which satisfies the above requirements; programmability by non-experts, field programmability and customizability. The proposed framework has been successfully implemented, deployed, and tested. Some robots with the framework presented in this paper are already in the commercialization pathway.

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“…Mobility aids [5], manipulation aids [6], therapeutic aids [7], surgical robots [8], physical and mental 1 C. Jayawardena, N. Baghaei, K. Ganeshan, and A. Sarrafzadeh are with the Department of Computing, Unitec Institute of Technology, New Zealand cjayawardena at unitec.ac.nz rehabilitation robots [9] [10], medication reminding robots [11] and elder-care robots [12] are some examples . Among these solutions, 'socially assistive robots' belong to a distinct category.…”

Section: Introductionmentioning

confidence: 99%

Designing a socially assistive companion robotic wheel chair: RoboChair

Jayawardena

Baghaei

Ganeshan

et al. 2013

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)

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Abstract-Developing socially assistive robots is an emerging interdisciplinary research area, which requires collaboration between a wide range of disciplines. Among recent research projects, there have been attempts to develop assistive robotic solutions to solve various health and social issues. In most current research attempts to design socially assistive robots, the focus is on designing new robotic agents that can interact with people by various means.Since people do not have much experience with robots, usually extensive field trials are conducted in order to assess the usability of these robots. However, determining the usability of these robotic agents is a difficult task, since the results of field trials are not always conclusive. In this paper, an attempt to overcome the difficulty of evaluating usability of assistive robots is presented.This paper presents the design of the first version of a companion robot called RoboChair. RoboChair is in the form of a wheel chair. But, functionally it is a socially assistive companion robot.The proposed robotic chair is a mobile robot that can carry a person. It is equipped with several measuring devices for taking clinical measurements mentioned above. In addition to that, it is equipped with several sensors for obstacle avoidance, map building, localization, detecting humans etc. It is also equipped with motor controllers and other actuators for motion control.The robot chair is capable of engaging users with interactive dialogs through a touch screen and by using human-robot interaction techniques. It has a scalable modular architecture so that adding new hardware and software modules is straightforward. The software framework is based on Robot Operating System (ROS) open source robotic middleware.RoboChair is controlled by a distributed controller that spans multiple hardware devices and multiple operating systems.

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Teleoperation of a robot manipulator using a vision-based human-robot interface

Cited by 294 publications

References 10 publications

Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface

Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface

An efficient programming framework for socially assistive robots based on separation of robot behavior description from execution

Designing a socially assistive companion robotic wheel chair: RoboChair

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