Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.
Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.
复制标题
DOI：
10.3390/s17030587
复制
发表时间：
2017-03-14
期刊：
影响因子：
--
通讯作者：
Seyedmahmoudian M
中科院分区：
文献类型：
--
作者：
Mortimer M;Horan B;Seyedmahmoudian M
机器人操作系统（ROS）为机器人专家提供了一个标准化的分布式框架，用于使用微内核环境在机器人系统之间进行实时通信。本文研究了ROS元数据、统一机器人描述格式（URDF）、语义机器人描述格式（SRDF）及其消息描述语言如何用于识别机器人的关键特征，从而为异构机器人团队的远程操作提供用户界面（UI）设计。UI组件和机器人特征之间的逻辑关系由一组使用相关和可用信息（包括开发人员专业知识和ROS元数据）创建的关系规则定义。这为生成远程操作ui设计的规则驱动方法提供了一个重要的机会；特别是减少了远程操作异构机器人团队中每个单独机器人所需的不同UI配置的数量。这种方法基于使用一个底层规则集来识别由于具有相同或相似的机器人特征而可以使用相同UI配置进行远程操作的机器人。除了减少操作员需要熟悉的不同UI配置的数量外，这种方法还支持远程操作员在不同机器人之间周期性切换时UI配置的一致性。为了实现这一目标，开发了一个Matlab工具箱，使用户能够定义规则，指定机器人特征与UI组件之间的关系。一旦定义了规则，就可以在特定的异构机器人团队中选择最能描述机器人类型特征的规则。这种方法的一个主要优点是，用户可以更普遍地指定团队的特征，从而使系统能够处理将来可能发生的细微变化，而不是指定组成团队的离散机器人。事实上，通过使用已定义的关系规则和特征选择，工具箱可以自动识别控制可能的机器人团队配置所需的简化的UI配置集，而不是传统的远程操作UI设计方法。在结果部分中，提供了三个测试用例，以演示如何选择不同的机器人特征来构建许多机器人特征组合，以及如何使用关系规则来确定控制机器人团队中每个单独机器人所需的UI配置的减少集。
The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.