An Implementation of Seamless Human-Robot Interaction for Telerobotics

Abstract

Achieving human-robot cooperation in a telerobotics system is the focus of this paper. The implementation of human-robot systems can be extremely challenging when the robot is not directly controlled by the human. The interaction mode, depending on the task context, can be continuous manual, semi-autonomous or autonomous. To address the Human-Robot Interaction (HRI) issues in such a system, a concept of seamless HRI is introduced. Seamless HRI implies flexibility in human control in interacting with a robot in different situations, and the adaptability of the robot autonomy in response to the human control. The main idea is to design a telerobotics system that allows a shift from manual to autonomous operation, dynamically, via different human-robot roles and relationships. These roles are Master-Slave, Supervisor-Subordinate, Partner-Partner, Teacher-Learner and Full Autonomous mode by the robot. This paper presents the theoretical foundations and the requirements for seamless HRI. An implementation of the concept and an experimental evaluation is presented.

Small Teleoperated Robot for Nuclear Radiation and Chemical Leak Detection

“…Through extensive research and experiments on small teleoperated robots for nuclear radiation and chemical detection using autonomous behaviour, it is realized that excessive autonomous behaviour in practical application will bring complexity of mission planning and operation, affecting the practical effects of the robot system. The design of autonomous behaviour and human-robot interaction interface are optimized for better application [12,13,14]. Fig.…”

Developing a Framework for Semi-Autonomous Control

“…The type of HRS addressed here is a telerobotics system, where the robot is not directly teleoperated throughout the complete work cycles, but can operate in continuous manual, semi-autonomous or autonomous modes depending on the situation context (Ong et al, 2008). The aim of this section is to show how this framework can be applied in the modelling and implementation of such system.…”

“…Specifically, this is essential for the robot to monitor human control behaviours so as to provide appropriate assistance to the human. Through this, task performance can be improved (Ong et al 2008). Action: An action system of a robot is the only output channel to influence the external world with the results of deliberation (i.e.…”

“…Kai Wei Ong, Gerald Seet and Siang Kok Sim (2008). Developing a Framework for Semi-Autonomous Control, Advances in Service Robotics, Ho Seok Ahn (Ed.…”

Experimenting False Alarm Demand for Human Robot Interactions in Humanoid Soccer Robots

“…In Shared control, the human and the robot control different functions of the system concurrently [12]. In most cases, the robots handles low level tasks, and the humans only provide high level control directives to accomplish a given task [13,14]. Therefore, the workload requirements for the operator would be reduced largely in shared control as compared to tele-operation mode.…”