Robot Teleoperation System based on Multi-touch Gesture Interaction and Action Candidate by View-based Interface

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  • Azuma Haseru
    The University of Tokyo, Graduate School of Information Science and Technology
  • Kakiuchi Yohei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Okada Kei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Inaba Masayuki
    The University of Tokyo, Graduate School of Information Science and Technology

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  • 対話画面インタフェースでのマルチタッチジェスチャ指示と操作候補提示に基づくロボット遠隔操作システム
  • タイワ ガメン インタフェース デ ノ マルチタッチジェスチャ シジ ト ソウサ コウホ テイジ ニ モトズク ロボット エンカク ソウサ システム

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Abstract

This paper presents a user interface for manipulating structured furniture and electric equipments based on view-based multi-touch gesture interface and demonstrational mechanism for action candidates. The contribution of this papers is summarized as follows: 1) We define multi-touch gesture for pull and rotate manipulation of the robot. 2) We propose demonstrational feedback mechanism of daily environment manipulation. 3) In order to obtain a 3D point that corresponds to the user-touched point on the interface, we show a method to estimate 3D points from screen points of the robot's view images. A prototype system has been implemented using iPad browser and we have evaluated the prototype system on our office and kitchen within environment and showed some preliminary results on usability assessment.

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