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.
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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
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DOI: https://doi.org/10.1007/978-3-642-10403-9_7
Publisher Name: Springer, Berlin, Heidelberg
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