Miller Robotic Interface II Bedienungsanleitung Seite 5
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TABLE OF CONTENTS
ABSTRACT.........................................................................................................................................................II
ACKNOWLEDGEMENTS..............................................................................................................................III
1 STATEMENT OF THE PROBLEM ........................................................................................................1
1.1 THE NEED FOR A TELEPRESENCE ROBOT INTERFACE .....................................................................1
1.2 CONTRIBUTIONS .................................................................................................................................5
2 REVIEW OF RELEVANT RESEARCH.................................................................................................7
2.1 MAP-CENTRIC INTERFACES ...............................................................................................................7
2.2 VIDEO-CENTRIC INTERFACES ..........................................................................................................10
3 TESTING METHODOLOGY.................................................................................................................14
3.1 TEST ARENA .....................................................................................................................................15
3.2 TIMED RUN .......................................................................................................................................15
3.3 DATA COLLECTION AND ANALYSIS .................................................................................................16
4 THE ROBOT SYTEM .............................................................................................................................19
4.1 ROBOT HARDWARE ..........................................................................................................................19
4.2 CONTROL PROTOCOL.......................................................................................................................21
4.3 AUTONOMY MODES..........................................................................................................................23
4.4 GENERAL INTERFACE DESIGN .........................................................................................................24
5 THE INTERFACE....................................................................................................................................30
5.1 PROTOTYPE AND VERSION 1.0 - 2004 ..............................................................................................30
5.1.1 Prototype Design..........................................................................................................................30
5.1.2 Version 1.0....................................................................................................................................31
5.1.3 Results of the First Study..............................................................................................................32
5.1.4 Results of the Second Study ..........................................................................................................38
5.2 VERSION 2.0 - 2005...........................................................................................................................42
5.2.1 Design...........................................................................................................................................43
5.2.2 Usability Study and Results ..........................................................................................................45
5.3 VERSION 3.0 - 2006...........................................................................................................................50
5.3.1 Design...........................................................................................................................................52
5.3.2 Experiment and Results ................................................................................................................54
6 RESULTS AND CONCLUSIONS ..........................................................................................................59
7 FUTURE WORK......................................................................................................................................62
8 REFERENCES..........................................................................................................................................64
APPENDIX A .....................................................................................................................................................68
A.1 DATA GATHERING IN ROBOT STUDIES....................................................................................................68
A.1.1 Previous Studies ................................................................................................................................68
A.1.2 Our Interface Studies.........................................................................................................................69
A.2 ROBOT HARDWARE AND SOFTWARE.......................................................................................................70
A.2.1 Hardware...........................................................................................................................................70
A.2.2 Software.............................................................................................................................................70
A.3 THE INTERFACE .......................................................................................................................................72
A.3.1 Prototype ...........................................................................................................................................72
A.3.2 Version 1.0.........................................................................................................................................72
A.3.3 Version 2.0.........................................................................................................................................73
A.3.4 Version 3.0.........................................................................................................................................73
v
- ABSTRACT 2
- ACKNOWLEDGEMENTS 3
- 1 STATEMENT OF THE PROBLEM 8
- 1.2 Contributions 12
- 2.1 Map-centric Interfaces 14
- Figure 5 19
- 3 TESTING METHODOLOGY 21
- 3.1 Test Arena 22
- 3.2 Timed Run 22
- 4 THE ROBOT SYTEM 26
- 4.1 Robot Hardware 26
- 4.2 Control Protocol 28
- 4.3 Autonomy Modes 30
- 5 INTERFACE EVOLUTION 37
- 5.1.1 Prototype Design 37
- 5.1.2 Version 1.0 38
- 5.2 Version 2.0 49
- 5.2.1 Design 50
- 5.3 Version 3.0 57
- 5.3.1 Design 59
- 6 RESULTS AND CONCLUSIONS 66
- 7 FUTURE WORK 69
- 8 REFERENCES 71
- APPENDIX A 75
- A.1.1 Previous Studies 75
- A.1.2 Our Interface Studies 76
- A.2.1 Hardware 77
- A.2.2 Software 77
- A.3 The Interface 79
- A.3.1 Prototype 79
- A.3.2 Version 1.0 79
- A.3.3 Version 2.0 80
- A.3.4 Version 3.0 80
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