Title :
View-based multi-touch gesture interface for furniture manipulation robots
Author :
Chen, Haseru ; Kakiuchi, Yohei ; Saito, Manabu ; Okada, Kei ; Inaba, Masayuki
Author_Institution :
Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan
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 push, 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.
Keywords :
control engineering computing; manipulators; notebook computers; telerobotics; touch sensitive screens; user interfaces; 3D point; action candidates; daily environment manipulation; demonstrational feedback mechanism; demonstrational mechanism; electric equipments; furniture manipulation robots; iPad browser; structured furniture; usability assessment; user interface; user-touched point; view-based multitouch gesture interface; Education; Estimation; Printers; Robot kinematics; Robot sensing systems; Tablet computers;
Conference_Titel :
Advanced Robotics and its Social Impacts (ARSO), 2011 IEEE Workshop on
Conference_Location :
Half-Moon Bay, CA
Print_ISBN :
978-1-4673-0795-6
DOI :
10.1109/ARSO.2011.6301979