Robotics: Science and Systems VII
Comparing Heads-up, Hands-free Operation of Ground Robots to Teleoperation
Matthew Marge, Aaron Powers, Jonathan Brookshire, Trevor Jay, Odest Jenkins, Christopher GeyerAbstract:
Today, most commercially available UGVs use teleoperation for control. Under teleoperation, users' hands are occupied holding a handheld controller to operate the UGV, and their attention is focused on what the robot is doing. In this paper, we propose an alternative called Heads-up, Hands-free Operation, which allows an operator to control a UGV using operator following behaviors and a gesture interface. We explore whether Heads-up, Hands-free Operation is an improvement over teleoperation. In a study of 30 participants, we found that when operators used these modes of interaction, they performed missions faster, they could recall their surroundings better, and they had a lower cognitive load than they did when they teleoperated the robot.
Bibtex:
@INPROCEEDINGS{Marge-A-RSS-11, AUTHOR = {Matthew Marge AND Aaron Powers AND Jonathan Brookshire AND Trevor Jay AND Odest Jenkins AND Christopher Geyer}, TITLE = {Comparing Heads-up, Hands-free Operation of Ground Robots to Teleoperation}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2011}, ADDRESS = {Los Angeles, CA, USA}, MONTH = {June}, DOI = {10.15607/RSS.2011.VII.027} }