A Visual Language for Robot Control and Programming: A Human-Interface Study

We describe an interaction paradigm for controlling a robot using hand gestures. In particular, we are interested in the control of an underwater robot by an on-site human operator. Under this context, vision-based control is very attractive, and we propose a robot control and programming mechanism based on visual symbols. A human operator presents engineered visual targets to the robotic system, which recognizes and interprets them. This paper describes the approach and proposes a specific gesture language called "RoboChat". RoboChat allows an operator to control a robot and even express complex programming concepts, using a sequence of visually presented symbols, encoded into fiducial markers. We evaluate the efficiency and robustness of this symbolic communication scheme by comparing it to traditional gesture-based interaction involving a remote human operator

Authors

• Gregory Dudek
• Junaed Sattar
• Anqi Xu 0003

Keywords

• Robot control
• Robot programming
• Communication system control
• Intelligent robots
• Robustness
• Navigation
• Human robot interaction
• Underwater communication
• Cognitive robotics
• Robot sensing systems
• Visual Target
• Human Operator
• Fiducial Markers
• Hand Gestures
• Communication Scheme
• Unmanned Underwater Vehicles
• Scope Of This Paper
• Cognitive Load
• Systemic Markers
• Human-robot Interaction
• Vocabulary Size
• Undersea
• Robot Operating
• Visual Communication
• Work Deals
• Gesture Recognition
• Expert Users
• American Sign Language
• Scuba Diving
• Circular Markers
• Distractor Task
• Sequence Of Tokens