Článek v časopise

MATERNA Zdeněk, ŠPANĚL Michal, MAST Marcus, BERAN Vítězslav, WEISSHARDT Florian, BURMESTER Michael a SMRŽ Pavel. Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping. Journal of Robotics and Mechatronics. 2017, roč. 29, č. 2, s. 381-394. ISSN 0915-3942.
Jazyk publikace:angličtina
Název publikace:Teleoperating Assistive Robots: A Novel User Interface for Remote Manipulation and Navigation Relying on Semi-Autonomy and Global 3D Environment Mapping
Název (cs):Uživatelské rozhraní pro vzdáleného semiautonomního robota pro péči o seniory
Strany:381-394
Kniha:Journal of Robotics and Mechatronics
Místo vydání:JP
Rok:2017
Časopis:Journal of Robotics and Mechatronics, roč. 29, č. 2, JP
ISSN:0915-3942
DOI:10.20965/jrm.2017.p0381
Soubory: 
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service robot, elderly care, user interface, human-robot interaction
Anotace
Článek představuje technické řešení a experimentální ověření nového uživatelského rozhraní pro vzdálené řízení semiautonomního robota.
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.
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},
   doi = {10.20965/jrm.2017.p0381},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php.cs?id=10576}
}

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