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 Geyer

Abstract:

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.

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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} 
}