RCON: Dynamic Mobile Interfaces for Command and Control of ROS-enabled Robots

Codd-Downey, Robert; Jenkin, Michael

doi:10.5220/0005540000660073

Cited by 5 publications

(3 citation statements)

References 6 publications

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“…In the case of mobile phones, despite being such a widespread gadget, their use in robotics has been limited to teleoperation tasks [13], [14]. In this work we will focus on the capabilities of mobile phones not only as teleoperation means but as graphical interfaces to share knowledge between humans and robots in a way that is effective regardless of the distance between the two agents and socially acceptable for the human.…”

Section: Related Workmentioning

confidence: 99%

User-Friendly Smartphone Interface to Share Knowledge in Human-Robot Collaborative Search Tasks

Domínguez-Vidal

Torres-Rodriguez

Garrell

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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Long-distance human-robot collaborative tasks require robust forms of knowledge-sharing among agents in order to optimize the performance of the task. In this paper, we propose to take advantage of the proliferation of mobile phones to use them as a reliable low-cost communication interface, as opposed to the use of specific gadgets or speech and gesture recognition techniques that are highly prone to failure in the presence of noise or occlusions. Our interface is focused on search tasks, and it allows the user to share with the other agents real-time information such as their position, their intention or even what they would like the other agents to do. To test its acceptability, a user study was conducted with 20 volunteers in a human-human scenario. A second round of experiments with other 30 volunteers was conducted to test different ways to encourage user interaction with our interface. Finally, real-life experiments were also conducted with a robot to apply skills learned to the desired scenario. We found a statistically significant improvement in the amount of information exchanged between agents.

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Section: Related Workmentioning

confidence: 99%

User-Friendly Smartphone Interface to Share Knowledge in Human-Robot Collaborative Search Tasks

Domínguez-Vidal

Torres-Rodriguez

Garrell

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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“…Aunque los ordenadores continúan teniendo una mayor capacidad de cómputo, los Smartphones tienen algunos puntos fuertes: son más ligeros, no necesitan estar conectados a la red eléctrica, es más sencillo poder usarlos en diferentes entornos. Existen algunos artículos en los que se expone el uso de dispositivos telefónicos para realizar la teleoperación de un sistema robótico, como es el caso de [4] donde se expone el uso de un dispositivo iOS para la interacción hombre-robot .…”

Section: Introductionunclassified

Control de la mano Allegro usando smartphones

Lillo¹,

Méndez²,

Torres³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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ResumenEste artículo presenta un entorno multiplataforma basado en unity3D para la virtualización de una mano robótica. La razón por la que se usa Unity3D es que, en general los entornos virtuales para las manos robóticas están limitados al uso de ordenadores y de software propietario. Además, la arquitectura usada en el sistema permite la conexión con un servidor con acceso a los nodos de ROS, que puede ser configurado para el uso de una mano robótica real o simulada. El sistema presentado permite realizar el control en tiempo real y recibir el feedback de los movimientos de la mano, permitiendo a varios usuarios realizar la supervisión de los movimientos de ésta. El sistema ha sido probado usando la mano robótica de cuatro dedos Allegro y ha sido controlada usado diferentes dispositivos Android y iOS.Palabras clave: Realidad virtual, Allegro, ROS, Unity3D INTRODUCCIÓNHace algunos años, la mejor manera de simular y controlar un robot era usando ordenadores. Sin embargo, los smartphones pueden actualmente realizar estas dos operaciones. Estos dispositivos han mejorado mucho durante la última década: Tienen una mayor memoria RAM, mayor espacio de almacenamiento, mejores procesadores, mayor duración de las baterías y es más fácil desarrollar software para ellos. Dependiendo del caso puede ser mejor usar dispositivos telefónicos para el control u ordenadores. Aunque los ordenadores continúan teniendo una mayor capacidad de cómputo, los Smartphones tienen algunos puntos fuertes: son más ligeros, no necesitan estar conectados a la red eléctrica, es más sencillo poder usarlos en diferentes entornos. Existen algunos artículos en los que se expone el uso de dispositivos telefónicos para realizar la teleoperación de un sistema robótico, como es el caso de [4] donde se expone el uso de un dispositivo iOS para la interacción hombre-robot .

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“…Another interesting tool to connect the ROS with Android devices is ROSBridge [32], which enables ROS to communicate with the web and application developers (for communication with robots), and allows robotics researchers to communicate with each other. The work of Codd, Downey, and Jenkin [33], which used an iOS device for human-robot interaction, should be highlighted.…”

Section: Introductionmentioning

confidence: 99%

Virtualization of Robotic Hands Using Mobile Devices †

et al. 2019

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This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

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RCON: Dynamic Mobile Interfaces for Command and Control of ROS-enabled Robots

Cited by 5 publications

References 6 publications

User-Friendly Smartphone Interface to Share Knowledge in Human-Robot Collaborative Search Tasks

User-Friendly Smartphone Interface to Share Knowledge in Human-Robot Collaborative Search Tasks

Control de la mano Allegro usando smartphones

Virtualization of Robotic Hands Using Mobile Devices †

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