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Human-robot interaction technology, used to command a robot or to acquire information from a robot, is defined as the communication method between humans and the robot. Human-robot interaction consists of the input facility, environment display, intuitive command and reaction, and the architecture of the interface program. This research focuses on the framework of the interface program that contains the controls, communication architecture and robot mark-up languages. The application that builds the intelligent user interface uses the functions: plug-and-play for robot peripherals; self-diagnosis; and multimodal sensor fusion. This research proposes the robotpsilas architecture to make the decision based on the robotpsilas level of autonomy. Our intelligent user interface system consists of ultrasonic, position sensitive detector (PSD), and DC motors. We verify operation of the intelligent user interface for the human-robot interaction through evaluating a scenario: the remote control of the mobile robotpsilas navigation in an environment containing obstacles.