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View-based multi-touch gesture interface for furniture manipulation robots

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5 Author(s)
Haseru Chen ; Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan ; Kakiuchi, Y. ; Saito, M. ; Okada, K.
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This paper presents a user interface for manipulating structured furniture and electric equipments based on view-based multi-touch gesture interface and demonstrational mechanism for action candidates. The contribution of this papers is summarized as follows: 1) we define multi-touch gesture for push, pull and rotate manipulation of the robot. 2) We propose demonstrational feedback mechanism of daily environment manipulation. 3) In order to obtain a 3D point that corresponds to the user-touched point on the interface, we show a method to estimate 3D points from screen points of the robot's view images. A prototype system has been implemented using iPad browser and we have evaluated the prototype system on our office and kitchen within environment and showed some preliminary results on usability assessment.

Published in:

Advanced Robotics and its Social Impacts (ARSO), 2011 IEEE Workshop on

Date of Conference:

2-4 Oct. 2011