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By Land, Air, or Sea: Multi-Domain Robot Communication Via Motion

2019-03-07 19:21:26
Michael Fulton, Mustaf Ahmed, Junaed Sattar

Abstract

In this paper, we explore the use of motion for robot-to-human communication on three robotic platforms: the 5 degrees-of-freedom (DOF) Aqua autonomous underwater vehicle (AUV), a 3-DOF camera gimbal mounted on a Matrice 100 drone, and a 3-DOF Turtlebot2 terrestrial robot. While we previously explored the use of body language-like motion (called kinemes) versus other methods of communication for the Aqua AUV, we now extend those concepts to robots in two new and different domains. We evaluate all three platforms using a small interaction study where participants use gestures to communicate with the robot, receive information from the robot via kinemes, and then take actions based on the information. To compare the three domains we consider the accuracy of these interactions, the time it takes to complete them, and how confident users feel in the success of their interactions. The kineme systems perform with reasonable accuracy for all robots and experience gained in this study is used to form a set of prescriptions for further development of kineme systems.

Abstract (translated)

本文探讨了机器人在三个机器人平台上的运动应用:5自由度(DOF)水下自主机器人(AUV)、安装在Matrice 100无人机上的3自由度摄像机框架和安装在3自由度Turtlebot2地面机器人。虽然我们之前探讨了在水下机器人中使用肢体语言类运动(称为运动)与其他通信方法的对比,但现在我们将这些概念扩展到两个新的和不同的领域中的机器人。我们使用一个小的交互研究来评估所有三个平台,参与者使用手势与机器人通信,通过Kinemes接收来自机器人的信息,然后根据这些信息采取行动。为了比较这三个领域,我们考虑到这些交互的准确性、完成它们所需的时间,以及用户对交互成功的信心。Kinome系统对所有机器人都具有合理的精确性,本研究所获得的经验可用于为Kinome系统的进一步发展制定一套处方。

URL

https://arxiv.org/abs/1903.03134

PDF

https://arxiv.org/pdf/1903.03134.pdf


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