Multi-Modal Teleoperation of a Humanoid Social Robot Initial Evaluation of Control Modalities

Detta är en Master-uppsats från Umeå universitet/Institutionen för datavetenskap

Författare: Adam Kavanagh Coyne; [2018]

Nyckelord: ;

Sammanfattning: Over previous years numerous social service robots have been show cased by companies and popular media, yet despite seeming on the cusp of becoming mainstream they are still far from entering into everyday use. Artificial intelligence has progress to make before becoming suitable for service robots, and this may be a major cause, however this issue can be mitigated by the implementation of an accessible social robot teleoperation framework that would allow a layperson user to control all of the social faculties of such a robot from a distance. Such a framework would compensate for the shortcomings of an artificial agent by letting control be switched to a human operator in difficult situations. The nature of social teleoperation being multimodal, attention must be brought to the control interface used by the operator; simultaneous use of multiple control modalities may be strenuous depending on the nature of these modalities. This paper details the initial evaluation o fsuch control modalities independently, towards the development of a multimodal teleoperation framework for robot socialisation using these modalities. User testing is employed to compare control schemes for the modalities of Navigation, Gestures, Neck control and Emotion control, using commonly available input equipment with virtual reality. Evaluation is conducted by studying time performance, workload and user preference and feedback; testing is done with a prototype teleoperation framework built in ROS, controlling a robot in a Unity HRI simulator. It is found using these metrics that modalities employing tracking (where the robot imitates the operator’s movements) are generally superior, but that allowing neck control may hinder the performance of other simultaneous modalities such as navigation. Emotion control was achieved with the available equipment but was found to potentially benefit from a hypothetical bespoke input device for the task

  HÄR KAN DU HÄMTA UPPSATSEN I FULLTEXT. (följ länken till nästa sida)