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Two Faces of Human–Robot Interaction: Field and Service Robots

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New Trends in Medical and Service Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 20))

Abstract

This chapter reports on recent research and development done at Institute for Systems and Robotics (ISR) on Human-Robot Interaction (HRI), encompassing two different perspectives. On the one hand, we have conducted research on field robots tele-operated by remote human operators, targeting Urban Search And Rescue scenarios. Here, research is focused on the challenge of conveying the operator with an effective situation awareness of the robot surroundings. Situation awareness is here understood as “the perception of the elements in the environment within a volume of time and space, the comprehension of their meaning, and the projection of their status in the near future” (Drury et al. 2003). Our approach is based on decoupling operation of the robot perception from the motion command: an Head-Mounted Display displays in stereo a video stream from the cameras onboard the robot, while the gaze of these cameras is controlled by the operator head, and the robot motion is commanded from a gamepad held by the operator. On the other hand, we have addressed the challenge of service robots designed to perform tasks requested by users. Humans interact with these robots, firstly to request a task, and secondly during task execution. The main research challenge is to have these robots to be aware of their own limitations, and ask humans for help to overcome those limitations. We are currently addressing the challenge of developing robust localization and navigation methods targeting office environments.

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Notes

  1. 1.

    http://www.isr.ist.utl.pt

  2. 2.

    Pointgrey Bumblebee2 with an horizontal field-of-view of 97°.

  3. 3.

    GMapping (http://wiki.ros.org/gmapping, retrieved 16 October 2013).

  4. 4.

    AMCL (http://wiki.ros.org/amcl, retrieved 16 October 2013).

  5. 5.

    \( \varGamma \) corresponds to the boundary of an arbitrarily small ball around the goal.

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Acknowledgments

Most of the results here presented were only possible due to the hard work of many students and grantees supervised by the author, namely Jorge Ferraz, Fausto Ferreira, Henrique Martins, João José Reis, Pedro Vieira, Miguel Vaz, Filipe Jesus, and João Mendes.

This work was partially funded by FCT [PEst-OE/EEI/LA0009/2013], [PTDC/EIA-CCO/113257/2009], and EU Project MOnarCH.

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Authors and Affiliations

  1. Institute for Systems and Robotics, Instituto Superior Técnico, Lisbon, Portugal

    Rodrigo Ventura

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  1. Rodrigo Ventura
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Correspondence to Rodrigo Ventura .

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Editors and Affiliations

  1. Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  3. LSRO - Robotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Hannes Bleuler

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Ventura, R. (2014). Two Faces of Human–Robot Interaction: Field and Service Robots. In: Rodić, A., Pisla, D., Bleuler, H. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-319-05431-5_12

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  • DOI: https://doi.org/10.1007/978-3-319-05431-5_12

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