Your SlideShare is downloading. ×
  • Like
  • Save
Multi-touch Interface for Controlling Multiple Mobile Robots
Upcoming SlideShare
Loading in...5
×

Thanks for flagging this SlideShare!

Oops! An error has occurred.

×

Now you can save presentations on your phone or tablet

Available for both IPhone and Android

Text the download link to your phone

Standard text messaging rates apply

Multi-touch Interface for Controlling Multiple Mobile Robots

  • 1,268 views
Published

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 …

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.

Published in Technology , Business
  • Full Name Full Name Comment goes here.
    Are you sure you want to
    Your message goes here
    Be the first to comment
No Downloads

Views

Total Views
1,268
On SlideShare
0
From Embeds
0
Number of Embeds
0

Actions

Shares
Downloads
0
Comments
0
Likes
2

Embeds 0

No embeds

Report content

Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
    No notes for slide
  • 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.

Transcript

  • 1. Multi-touch Interface for Controlling Multiple Mobile Robots Igarashi Laboratory, The University of Tokyo JST, ERATO, IGARASHI Design UI Project Jun Kato
  • 2. INTRODUCTION
    • Multi-touch Interface for Controlling Multiple Mobile Robots
  • 3. Motivation
    • Multiple mobile robots can do various tasks with greater efficiency.
    • They also improve fault tolerance.
  • 4.
    • Then, how would you like to control movements of those robots?
      • “ Discussion of Challenges for User Interfaces in Human-Robot Teams” - (Driewer, F., 2007)
      • “ Human control for cooperating robot teams” – (Wang, J., 2007)
  • 5. Existing User Interfaces Gesture and Speech (Rogalla, 2002) PDA and Pen (Fong, T., 2002) Joystick Mouse Gesture Speech
  • 6. Existing User Interfaces Drawing a sketch to control robots (Skubic, M., 2007)
  • 7.
    • Draw similar paths? Switch among many views?
    • How can we combine these interfaces with autonomous approaches?
    Problems
  • 8. My Approach God’s view of the environment Two hands’ intuitive operation Direct manipulation of raw data for navigating robots
  • 9. Vector Field Operation Draw a stream, drift robots!
  • 10. VECTOR FIELD OPERATION
    • Multi-touch Interface for Controlling Multiple Mobile Robots
  • 11. Hardware Setup with
  • 12. Vector Field on the View
    • The view is divided into grids.
    • Each grids have 2D vector information.
    • Whole grids construct a 2D vector (flow) field.
  • 13. Available Operations on the Vector Field To move robots, To fix movements, To stop robots,
  • 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. “ So, what can we do?”
  • 16. Next Step…
    • A user test
    • Integration of other user interfaces
  • 17. Combination with Direct Operation
    • Based on Vector Field Operation
    • When fingers are in the robot icon, Direct Operation starts.
      • The robot under the finger
      • moves along the path it draws.
    Direct Operation Vector Field Operation
  • 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. Integration with Autonomous Algorithms
    • With Virtual Force Field (Borenstein, J., 1989)
    • Etc.?
  • 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. Summary
    • We developed a multi-touch interface for controlling multiple mobile robots simultaneously.
    • Our interface has capability to be integrated with other operating methods, including autonomous ways.