Multi-modal human-robot interface for interaction with a remotely operating mobile service robot
- 1 January 1997
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 12 (4) , 397-409
- https://doi.org/10.1163/156855398x00262
Abstract
This paper discusses requirements for information exchange between a human operator and a semi-autonomous service robot operating in a remote indoor environment. The resulting multimodal HuMan-Robot Interface (MRI) allows specification of various types of robot activities by use of an advanced system for natural spoken user-independent speech understanding and flexible robot command generation. Visual screen-based monitoring and support of complex operations is achieved by means of an animated three-dimensional environmental model augmented by the image of an onboard CCD camera. Typical features of the MRI are demonstrated through experiments performed with the mobile manipulator ROMAN.Keywords
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