Smartphone teleoperation for self-balancing telepresence robots

Antti E. Ainasoja; Said Pertuz; Joni-Kristian Kämäräinen

doi:10.5220/0007406405610568

Smartphone teleoperation for self-balancing telepresence robots

Antti E. Ainasoja
, Said Pertuz
, Joni-Kristian Kämäräinen

Tietotekniikka

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

8 Sitaatiot (Scopus)

88 Lataukset (Pure)

Abstrakti

Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.

Alkuperäiskieli	Englanti
Otsikko	VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Toimittajat	Andreas Kerren, Christophe Hurter, Jose Braz
Kustantaja	SCITEPRESS Science and Technology Publications
Sivut	561-568
Sivumäärä	8
ISBN (elektroninen)	9789897583544
DOI - pysyväislinkit	https://doi.org/10.5220/0007406405610568
Tila	Julkaistu - 2019
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	International Conference on Computer Vision Theory and Applications - Prague, Tshekki Kesto: 25 helmik. 2019 → 27 helmik. 2019

Conference

Conference	International Conference on Computer Vision Theory and Applications
Maa/Alue	Tshekki
Kaupunki	Prague
Ajanjakso	25/02/19 → 27/02/19

Rahoitus

This work was funded by Academy of Finland project: “Robots and the Future of Welfare Services”, decision number: 314180.

Julkaisufoorumi-taso

Jufo-taso 0

!!ASJC Scopus subject areas

Computer Science Applications
Computer Vision and Pattern Recognition
Computer Graphics and Computer-Aided Design

Pääsy asiakirjaan

10.5220/0007406405610568Lisenssi: CC BY-NC-ND

VISAPP_2019_199
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 license. To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/4.0/
Final published version, 948 KBLisenssi: CC BY-NC-ND

http://urn.fi/URN:NBN:fi:tty-201908282038Lisenssi: CC BY-NC-ND

Siteeraa tätä

Ainasoja, A. E., Pertuz, S., & Kämäräinen, J.-K. (2019). Smartphone teleoperation for self-balancing telepresence robots. teoksessa A. Kerren, C. Hurter, & J. Braz (Toimittajat), VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (Sivut 561-568). SCITEPRESS Science and Technology Publications. https://doi.org/10.5220/0007406405610568

Ainasoja, Antti E. ; Pertuz, Said ; Kämäräinen, Joni-Kristian. / Smartphone teleoperation for self-balancing telepresence robots. VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Toimittaja / Andreas Kerren ; Christophe Hurter ; Jose Braz. SCITEPRESS Science and Technology Publications, 2019. Sivut 561-568

@inproceedings{a0983c377ac34875b7515b55117e0da5,

title = "Smartphone teleoperation for self-balancing telepresence robots",

abstract = "Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.",

keywords = "Teleoperation, Telepresence, User Interface",

author = "Ainasoja, \{Antti E.\} and Said Pertuz and Joni-Kristian K{\"a}m{\"a}r{\"a}inen",

year = "2019",

doi = "10.5220/0007406405610568",

language = "English",

pages = "561--568",

editor = "Andreas Kerren and Christophe Hurter and Jose Braz",

booktitle = "VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications",

publisher = "SCITEPRESS Science and Technology Publications",

note = "International Conference on Computer Vision Theory and Applications ; Conference date: 25-02-2019 Through 27-02-2019",

}

Ainasoja, AE, Pertuz, S & Kämäräinen, J-K 2019, Smartphone teleoperation for self-balancing telepresence robots. julkaisussa A Kerren, C Hurter & J Braz (toim), VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. SCITEPRESS Science and Technology Publications, Sivut 561-568, International Conference on Computer Vision Theory and Applications, Prague, Tshekki, 25/02/19. https://doi.org/10.5220/0007406405610568

Smartphone teleoperation for self-balancing telepresence robots. / Ainasoja, Antti E.; Pertuz, Said; Kämäräinen, Joni-Kristian.
VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. toim. / Andreas Kerren; Christophe Hurter; Jose Braz. SCITEPRESS Science and Technology Publications, 2019. s. 561-568.

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

TY - GEN

T1 - Smartphone teleoperation for self-balancing telepresence robots

AU - Ainasoja, Antti E.

AU - Pertuz, Said

AU - Kämäräinen, Joni-Kristian

PY - 2019

Y1 - 2019

N2 - Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.

AB - Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.

KW - Teleoperation

KW - Telepresence

KW - User Interface

U2 - 10.5220/0007406405610568

DO - 10.5220/0007406405610568

M3 - Conference contribution

SP - 561

EP - 568

BT - VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

A2 - Kerren, Andreas

A2 - Hurter, Christophe

A2 - Braz, Jose

PB - SCITEPRESS Science and Technology Publications

T2 - International Conference on Computer Vision Theory and Applications

Y2 - 25 February 2019 through 27 February 2019

ER -

Ainasoja AE, Pertuz S, Kämäräinen JK. Smartphone teleoperation for self-balancing telepresence robots. julkaisussa Kerren A, Hurter C, Braz J, toimittajat, VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. SCITEPRESS Science and Technology Publications. 2019. s. 561-568 doi: 10.5220/0007406405610568

Smartphone teleoperation for self-balancing telepresence robots

Abstrakti

Conference

Rahoitus

Julkaisufoorumi-taso

!!ASJC Scopus subject areas

Pääsy asiakirjaan

Sormenjälki

Siteeraa tätä