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首页> 外文期刊>Arabian Journal for Science and Engineering >Developing a Portable Human–Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization
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Developing a Portable Human–Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization

机译：通过选择性隔离，为户外机器人开发便携式人机交互（HRI）框架

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摘要

One of the challenges of outdoor robots is developing effective portable Human-Robot-Interaction (HRI) frameworks. Hand-held devices offer a practical solution. By equipping these devices with robot software, they can be made to interact with the outdoor robots. Android devices are ideal as they are open source and can be integrated with robots powered by the Robot Operating System (ROS), also open source. However, due to the limits of rosjava, the mechanism that links ROS with android, and the conflicting modes of operation between ROS and android, current implementations of ROS-android offer limited robot applications that do not support advanced operations such as autonomous navigation and others. This paper implements selective compartmentalization to overcome these limitations, by combining ROS with android through a number of ROS and android bridges that would facilitate the development of advanced robot applications. Through the proposed method, authors were able to develop a portable HRI framework that allowed human operators to supervise an outdoor mobile robot while it performed an autonomous task. From their mobile devices, users were able to initialize the robot, configure its motion, and monitor its progress. Also, users were able to reprogram the robot to perform new tasks (not previously planned) through a creative use of features offered in the developed HRI framework. Also, user cognitive effort was reported to be low as evident by the positive score on the NASA-TLX scale test which was corroborated with robot performance data. This paper presents the detailed development and implementation steps.
机译：室外机器人的挑战之一是开发有效的便携式人机交互（HRI）框架。手持设备提供了实用的解决方案。通过为这些设备配备机器人软件，可以使其与室外机器人进行交互。 Android设备非常理想，因为它们是开源的，并且可以与由开放源代码的机器人操作系统（ROS）驱动的机器人集成。但是，由于rosjava的局限性，将ROS与android链接的机制以及ROS与android之间的操作模式冲突，因此ROS-android的当前实现提供了有限的机器人应用程序，这些应用程序不支持高级操作，例如自主导航等。本文通过将ROS与android通过许多ROS和android桥相结合来实现选择性隔离来克服这些限制，这将有助于高级机器人应用程序的开发。通过提出的方法，作者能够开发一种便携式HRI框架，该框架允许人类操作人员在执行自主任务的同时监督室外移动机器人。用户可以通过移动设备初始化机器人，配置机器人的运动并监视机器人的进度。此外，用户可以通过创造性地使用已开发的HRI框架中提供的功能，对机器人进行重新编程，以执行新任务（之前尚未计划）。同样，据报道，用户的认知努力较低，这在NASA-TLX规模测试中获得了积极的评分，这与机器人的性能数据相符。本文介绍了详细的开发和实施步骤。

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