CUED Publications database

Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of roombots modules

Nigolian, V and Mutlu, M and Hauser, S and Bernardino, A and Ijspeert, A (2017) Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of roombots modules. In: UNSPECIFIED pp. 772-778..

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Abstract

Self-reconfigurable modular robots (SRMR) offer high flexibility in task space by adopting different morphologies for different tasks. Using the same simple module, complex and more capable morphologies can be built. However, increasing the number of modules increases the degrees of freedom (DOF) of the system. Thus, controlling the system as a whole becomes harder. Indeed, even a 10 DOFs system is difficult to consider and manipulate. Intuitive and easy to use interfaces are needed, particularly when modular robots need to interact with humans. In this study we present an interface to assemble desired structures and placement of such structures, with a focus on the assembly process. Roombots modules, a particular SRMR design, are used for the demonstration of the proposed interface. Two non-conventional input/output devices - a head mounted display and hand tracking system - are added to the system to enhance the user experience. Finally, a user study was conducted to evaluate the interface. The results show that most users enjoyed their experience. However, they were not necessarily convinced by the gesture control, most likely for technical reasons.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 15 Feb 2020 01:16
Last Modified: 22 Apr 2021 05:17
DOI: 10.1109/ROMAN.2017.8172390