Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping

[abstFig src='/00290002/11.jpg' width='300' text='User-assisted pick and place task' ] Despite remarkable progress of service robotics in recent years, it seems that a fully autonomous robot which would be able to solve everyday household tasks in a safe and reliable manner is still unachievable. Under certain circumstances, a robot’s abilities might be supported by a remote operator. In order to allow such support, we present a user interface for a semi-autonomous assistive robot allowing a non-expert user to quickly asses the situation on a remote site and carry out subtasks which cannot be finished automatically. The user interface is based on a mixed reality 3D environment and fused sensor data, which provides a high level of situational and spatial awareness for teleoperation as well as for telemanipulation. Robot control is based on low-cost commodity hardware, optionally including a 3D mouse and stereoscopic display. The user interface was developed in a human-centered design process and continuously improved based on the results of five evaluations with a total of 81 novice users.