Improving Collocated Robot Teleoperation with Augmented Reality

摘要

Robot teleoperation can be a challenging task, often requiring a great deal of user training and expertise, especially for platforms with high degrees-of-freedom (e.g., industrial manipulators and aerial robots). Users often struggle to synthesize information robots collect (e.g., a camera stream) with contextual knowledge of how the robot is moving in the environment. We explore how advances in augmented reality (AR) technologies are creating a new design space for mediating robot teleoperation by enabling novel forms of intuitive, visual feedback. We prototype several aerial robot teleoperation interfaces using AR, which we evaluate in a 48-participant user study where participants completed an environmental inspection task. Our new interface designs provided several objective and subjective performance benefits over existing systems, which often force users into an undesirable paradigm that divides user attention between monitoring the robot and monitoring the robot»s camera feed(s).