This paper presents an advanced human-robot in- teraction (HRI) interface that offers intuitive teleoperation of the BADGER’s system surface and subsurface robots. The interface provides the proper tools for a familiar user to analyze the robot’s environment and guide the robots autonomously or with teleoperation in order to firstly perform the scanning of the designated underground area by exploiting the surface robot’s GPR antenna, and secondly for the planning and operation of the subsurface robot during the drilling procedure. Moreover, the interface incorporates 3D simulation technologies that provide accurate representations of the robot’s surroundings using the robot’s sensors, while effective mechanisms have been imple- mented for the systematic teleoperation of the subsurface robot with an easy to use graphical user interface (GUI). The HRI interface is integrated within the ROS framework and is built as a web application that can be operated through a smartphone or a tablet offering additional mobility to the operator.
A Web-based HRI Interface for Teleoperation of Overground and Underground Robots
2019-08-15
Conference paper
Electronic Resource
English
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