J. Alan Atherton
Michael Goodrich
Brigham Young University
Department of Computer Science
April 9, 2009
Funded in part by Idaho National Laboratory
And Army Research Laboratory
1
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
2
What is a remote manipulator?
Applications
•
USAR
•
EOD
•
Planetary Exploration
3
Remotely operating a robot is difficult
•
“Soda straw”
—
Maintaining situation awareness
•
Time delay
•
Mental workload
Why is this a
problem?
•
Collisions
•
Slow
•
Stressful
Foster
-
Miller Talon
4
All images adopted from
Yanco
, H. A.; Drury, J. L. &
Scholtz
, J.
“Beyond usability evaluation: analysis of human
-
robot interaction at a major robotics competition”
Hum.
-
Comput
. Interact., L. Erlbaum Associates Inc.,
2004
, 19
, 117
-
149
5
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
6
Idaho National Laboratory
UMass Lowell
Bruemmer
, D. J. et al.
“Shared understanding for collaborative
control.”
IEEE Transactions on Systems, Man and
Cybernetics, Part A,
2005
, 35
, 494
-
504
Yanco
, H. A. et al.
“Analysis of Human
-
Robot Interaction for
Urban Search and Rescue.”
Proceedings of the IEEE International Workshop
on Safety, Security and Rescue Robotics,
2006
7
INL / BYU AV Interface
Ferland
et al.
-
Sherbrooke
C. W. Nielsen, M. A. Goodrich, and B. Ricks.
“Ecological
Interfaces for Improving Mobile Robot
Teleoperation
.”
IEEE Transactions on Robotics and
Automation
.
Vol
23, No 5, pp. 927
-
941, October 2007.
Ferland
, F.;
Pomerleau
, F.;
Dinh
, C. T. L. & Michaud, F.
“Egocentric and exocentric
teleoperation
interface
using real
-
time, 3D video projection.”
Proceedings of the 4th ACM/IEEE international
conference on Human robot interaction, ACM,
2009
,
37
-
44
8
NASA
Viz
Nguyen, L. A.;
Bualat
, M.; Edwards, L. J.;
Flueckiger
, L.;
Neveu
, C.;
Schwehr
, K. ..; Wagner, M. D. &
Zbinden
, E.
“Virtual Reality Interfaces for visualization and control of
remote vehicles”
Autonomous Robots,
2001
, 11
, 59
-
68
9
Kelly, A.; Anderson, D.;
Capstick
, E.; Herman, H. &
Rander
, P.
“
Photogeometric
Sensing for Mobile Robot
Control and
Visualisation
Tasks”
Proceedings of the AISB Symposium on New
Frontiers in Human
-
Robot Interaction,
2009
CMU Robotics Institute
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
10
Requirements
•
Ecological
•
Increase situation awareness
•
Manage workload
Existing Interfaces
•
Lack depth information
•
No manipulation support
•
Not designed for real
-
time operation
11
12
Real
-
time
remote
manipulation
13
Robot
•
Build from kit, modify
•
Player driver
•
Motion planning for arm
•
Swiss Ranger driver
Communication
•
Integrate with INL’s system
•
Network data transfer
User Interface
•
OpenGL display
•
Experiment automation
14
Robot
Controller
User
Interface
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
15
Variant
1
Variant
2
Variant 3
Variant 4
Variant 5
Variant 6
3D +
Video
End
Effector
Video
3D
Joint
Robot
Control
Visualization
Task: collect yellow blocks
30 participants
Between
-
subject
comparison
16
Reduce memorization
effects
Minimize damage to arm
Quick change
17
18
19
Joint control
View
-
dependent end
effector
control
20
21
Robot reaches
for point
User moves
point with
joystick
Point
movement
depends on
view
orientation
3D +
Vid
.
End eff.
3D +
Vid
.
Joint
3D
End eff.
3D
Joint
Video
End eff.
Video
Joint
22
3D +
Vid
.
End eff.
3D +
Vid
.
Joint
3D
End eff.
3D
Joint
Video
End eff.
Video
Joint
3D +
Vid
.
End eff.
3D +
Vid
.
Joint
3D
End eff.
3D
Joint
Video
End eff.
Video
Joint
23
Collisions with
posts, box, table
Collisions with
block in final
adjustments
Interface
Measure
3D
+
Vid
.
End eff.
3D +
Vid
.
Joint
3D
End
eff.
3D
Joint
Video
End eff.
Video
Joint
Time to completion
6th
1st
World collisions
3rd
6th
1st
3rd
6th
Block collisions
1st
6th
6th
Preference
1st
1st
6th
1st
Subjective
mental workload
1st
6th
2nd
3rd
24
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
25
Problems
•
Alignment
•
Time lag
•
Cluttered 3D scan model
Changes
•
Stereo camera exterior orientation
•
Interactive robot arm calibration
•
Simple Quickening
•
Scan Pruning
26
Interactive stereo
camera
calibration
Live robot arm
calibration
27
28
29
30
Background
Related Work
Ecological Interface
User Study
Interface Changes from Study
Conclusions and Future Work
31
3D visualization supports SA
Video is faster
3D + video is a good tradeoff
3D + video might reduce workload
32
33
Head tracking
Ecological
camera video
Haptics
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