Assessment of a Tangible User Interface for an Affordable Humanoid Robot

  • Jacopo Aleotti
  • Stefano Caselli
Part of the Cognitive Systems Monographs book series (COSMOS, volume 6)


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.


Completion Time Mobile Robot Humanoid Robot Navigation Task Command Signal 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Jacopo Aleotti
    • 1
  • Stefano Caselli
    • 1
  1. 1.Dipartimento di Ingegneria dell’InformazioneUniversity of ParmaItaly

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