Multi-touch Interface for Controlling Multiple Mobile Robots


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Draw a stream, drift robots. That's the way I introduced to control movements of multiple mobile robots simultaneously, in CHI'09 Student Research Competition. This talk presents the interface in detail, and its future work.

26/04/09 YouTube video inserted at the last.

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  • Hello, this is Jun Kato from the University of Tokyo. I’m very pleased, feel proud and excited to have an opportunity / to talk at this great international conference. Today, I talk about a multi-touch interface / for controlling multiple mobile robots.
  • Multi-touch Interface for Controlling Multiple Mobile Robots

    1. 1. Multi-touch Interface for Controlling Multiple Mobile Robots Igarashi Laboratory, The University of Tokyo JST, ERATO, IGARASHI Design UI Project Jun Kato
    2. 2. INTRODUCTION <ul><li>Multi-touch Interface for Controlling Multiple Mobile Robots </li></ul>
    3. 3. Motivation <ul><li>Multiple mobile robots can do various tasks with greater efficiency. </li></ul><ul><li>They also improve fault tolerance. </li></ul>
    4. 4. <ul><li>Then, how would you like to control movements of those robots? </li></ul><ul><ul><li>“ Discussion of Challenges for User Interfaces in Human-Robot Teams” - (Driewer, F., 2007) </li></ul></ul><ul><ul><li>“ Human control for cooperating robot teams” – (Wang, J., 2007) </li></ul></ul>
    5. 5. Existing User Interfaces Gesture and Speech (Rogalla, 2002) PDA and Pen (Fong, T., 2002) Joystick Mouse Gesture Speech
    6. 6. Existing User Interfaces Drawing a sketch to control robots (Skubic, M., 2007)
    7. 7. <ul><li>Draw similar paths? Switch among many views? </li></ul><ul><li>How can we combine these interfaces with autonomous approaches? </li></ul>Problems
    8. 8. My Approach God’s view of the environment Two hands’ intuitive operation Direct manipulation of raw data for navigating robots
    9. 9. Vector Field Operation Draw a stream, drift robots!
    10. 10. VECTOR FIELD OPERATION <ul><li>Multi-touch Interface for Controlling Multiple Mobile Robots </li></ul>
    11. 11. Hardware Setup with
    12. 12. Vector Field on the View <ul><li>The view is divided into grids. </li></ul><ul><li>Each grids have 2D vector information. </li></ul><ul><li>Whole grids construct a 2D vector (flow) field. </li></ul>
    13. 13. Available Operations on the Vector Field To move robots, To fix movements, To stop robots,
    14. 14. Implementation of the Vector Field Track motion Motion vector affects the field Vectors are overwritten completely in blue area Vectors are overwritten 0-100% in green area, in proportion to the distance from the center Capture Calibrate
    15. 15. “ So, what can we do?”
    16. 16. Next Step… <ul><li>A user test </li></ul><ul><li>Integration of other user interfaces </li></ul>
    17. 17. Combination with Direct Operation <ul><li>Based on Vector Field Operation </li></ul><ul><li>When fingers are in the robot icon, Direct Operation starts. </li></ul><ul><ul><li>The robot under the finger </li></ul></ul><ul><ul><li>moves along the path it draws. </li></ul></ul>Direct Operation Vector Field Operation
    18. 18. Extensions of Vector Field Operation Draggable virtual dog icons. Robots as sheeps run away! Bind relative positions of robots Draw or clear virtual walls.
    19. 19. Integration with Autonomous Algorithms <ul><li>With Virtual Force Field (Borenstein, J., 1989) </li></ul><ul><li>Etc.? </li></ul>
    20. 20. Extensions of Visualization Visualization of the Vector Field with particle-animation Path calculation and visualization Error displays like time out I can’t move! Desti- nation! My path!
    21. 21. Summary <ul><li>We developed a multi-touch interface for controlling multiple mobile robots simultaneously. </li></ul><ul><li>Our interface has capability to be integrated with other operating methods, including autonomous ways. </li></ul>