Journal article

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. 2017, vol. 29, no. 2, pp. 381-394. ISSN 0915-3942.
Publication language:english
Original title:Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping
Title (cs):Uživatelské rozhraní pro vzdáleného semiautonomního robota pro péči o seniory
Pages:381-394
Book:Journal of Robotics and Mechatronics
Place:JP
Year:2017
Journal:Journal of Robotics and Mechatronics, Vol. 29, No. 2, JP
ISSN:0915-3942
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Keywords
service robot, elderly care, user interface, human-robot interaction
Annotation
The article describes technical background and experimental evaluation of a novel remote user interface for semi-autonomous robot. 
Abstract
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.
BibTeX:
@ARTICLE{
   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},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php?id=10576}
}

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