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Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

Michael Mortimer¹, Ben Horan², Mehdi Seyedmahmoudian³

¹School of Engineering, Deakin University, Pigdons Rd, Waurn Ponds, Victoria 3216, Australia. mamort@deakin.edu.au.

Sensors (Basel, Switzerland)

|March 25, 2017

Summary

This study introduces a rule-driven approach using Robot Operating System (ROS) metadata to simplify user interface (UI) design for controlling multiple robots. It reduces the number of UIs needed for heterogeneous robot teams.

Keywords:

Matlab Robot Operating System (ROS)Sematic Robotic Description Format (SRDF)Unified Robotic Description Format (URDF)User Interface teleoperation

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Area of Science:

Robotics
Human-Computer Interaction
Software Engineering

Background:

Teleoperation of heterogeneous robot teams presents challenges in user interface (UI) design.
Existing methods often require ad-hoc UI configurations for each robot, leading to complexity.
Robot Operating System (ROS) offers a standardized framework for robot communication and data description.

Purpose of the Study:

To develop a systematic, rule-driven approach for generating teleoperation UIs for heterogeneous robot teams.
To leverage ROS metadata, including URDF and SRDF, for identifying key robot characteristics.
To reduce the number of distinct UI configurations required for controlling diverse robot teams.

Main Methods:

Utilized ROS metadata (URDF, SRDF, message descriptions) to define robot characteristics.
Established logical relationships between UI components and robot characteristics using a rule-based system.
Developed a Matlab toolbox to define these rules and automatically identify a reduced set of UI configurations.

Main Results:

Demonstrated a reduction in the number of required UI configurations for teleoperating heterogeneous robot teams.
Showcased the system's ability to handle variations in robot characteristics within a team.
Validated the approach through three test cases illustrating the rule-driven UI generation process.

Conclusions:

A rule-driven methodology effectively simplifies UI design for heterogeneous robot teleoperation.
The proposed system enhances operator efficiency and consistency by minimizing UI variations.
This approach offers a more scalable and adaptable solution compared to traditional ad-hoc UI design.