Abstract
The paper reports a systematic evaluation of a tangible user interface (TUI) for programming robot tasks in the context of humanoid robotics. The assessment is aimed at exploring the potential benefits of a natural tangible interface for human-robot interaction (HRI) compared to traditional keypad remote controllers. The proposed user interface exploits the Nintendo Wii® wireless game controller whose command signals have been used to drive a humanoid platform. An affordable robot (the Robosapien V2) has been adopted for the experimental evaluation. Two different tasks have been considered. The first experiment is a walking task with obstacle avoidance including object kicking. The second experiment is a gesture reproduction task, which involves both arms and upper body motion. The gesture based TUI has proven to decrease task completion time.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Aleotti, J., Caselli, S.: Imitating Walking Paths with a Low-Cost Humanoid Robot. In: Int’l. Conference on Advanced Robotics, ICAR 2007, Jeju, Korea (2007)
Aleotti, J., Caselli, S.: A Low-Cost Humanoid Robot with Human Gestures Imitation Capabilities. In: IEEE Int’l. Symposium on Robot and Human Interactive Communication, RO-MAN 2007, Jeju, Korea (2007)
Behnke, S., Müller, J., Schreiber, M.: Playing soccer with robosapien. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 36–48. Springer, Heidelberg (2006)
Gams, A., Mudry, P.A.: Gaming controllers for research robots: controlling a humanoid robot using a wiimote. In: Int’l. Electrotechnical and Computer Science Conference, ERK 2008 (2008)
Guo, C., Sharlin, E.: Exploring the Use of Tangible User Interfaces for Human-Robot Interaction: A Comparative Study. In: SIGCHI conference on Human factors in computing systems (2008)
Hwang, J.H., Arkin, R.C., Kwon, D.S.: Mobile robots at your fingertip: Bezier curve on-line trajectory generation for supervisory control. In: IEEE/RSJ Int’l. Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada (2003)
Lapping-Carr, M., Jenkins, O., Grollman, D., Schwertfeger, J., Hinkle, T.: Wiimote Interfaces for Lifelong Robot Learning. In: AAAI Symposium on Using AI to Motivate Greater Participation in Computer Science, Palo Alto, CA, USA (2008)
Lee, S., Sukhatme, G., Jounghyun Kim, G., Park, C.M.: Haptic Teleoperation of a Mobile Robot: A User Study. Presence: Teleoperators & Virtual Environments 14(3), 345–365 (2005)
Moon, I., Lee, M., Ryu, J., Mun, M.: Intelligent Robotic Wheelchair with EMG-, Gesture-, and Voice-based Interfaces. In: IEEE/RSJ Int’l. Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA (2003)
Sato, E., Yamaguchi, T., Harashima, F.: Natural Interface Using Pointing Behavior for Human-Robot Gestural Interaction. IEEE Transactions on Industrial Electronics 54(2), 1105–1111 (2007)
Shiratori, T., Hodgins, J.K.: Accelerometer-based user interfaces for the control of a physically simulated character. ACM Transactions on Graphics (SIGGRAPH Asia 2008) 27(5) (2008)
Singh, R., Seth, B., Desai, U.: A Real-Time Framework for Vision based Human Robot Interaction. In: IEEE/RSJ Int’l. Conference on Intelligent Robots and Systems (IROS), Beijing, China (2006)
Song, T.R., Park, J.H., Jung, S.M., Jeon, J.W.: The Development of Interface Device for Human robot Interaction. In: Int’l. Conference on Control, Automation and Systems, Seoul, Korea (2007)
Stiefelhagen, R., Ekenel, H.K., Fugen, C., Gieselmann, P., Holzapfel, H., Kraft, F., Nickel, K., Voit, M., Waibel, A.: Enabling Multimodal Human Robot Interaction for the Karlsruhe Humanoid Robot. IEEE Transactions on Robotics 23(5), 840–850 (2007)
Varcholik, P., Barber, D., Nicholson, D.: Interactions and Training with Unmanned Systems and the Nintendo Wiimote. In: Interservice/Industry Training, Simulation, and Education Conference, I/ITSEC (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Aleotti, J., Caselli, S. (2009). Assessment of a Tangible User Interface for an Affordable Humanoid Robot. In: Ritter, H., Sagerer, G., Dillmann, R., Buss, M. (eds) Human Centered Robot Systems. Cognitive Systems Monographs, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10403-9_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-10403-9_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10402-2
Online ISBN: 978-3-642-10403-9
eBook Packages: EngineeringEngineering (R0)