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This paper proposes the step-on interface (SOI) to operate a mobile robot in which a projector projects and dis- plays a direction screen on a floor and a user specifies a button showing the selected movement by stepping or pointing. The HFAMRO-1 mobile robot has been developed to demonstrate the SOI's potential (HFAMRO: "human-friendly amusing" mobile robot). The SOI of HFAMRO-1 consists of a projector and a range scanner on an omni-directional mo- bile platform. From operational comparison with other input interfaces, it is confirmed that we can direct the robot move- ment using our own foot. We had some students who does not specialize robotic systems try to operate HFAMRO-1 with their shoes, and all trial students could specify the button to operate the robot satisfactorily and everyone mastered the SOI immediately.

Step-On Interface on Mobile Robot to Operate by Stepping on Projected Button