Intuitive control for the mobile Service Robot InBOT using haptic interaction

Service Robots working in close cooperation with humans must have an intuitive user interface for good acceptance. The most intuitive method of using a service robot is probably the interaction based on physical contact by using a haptic interface like a sensorized handle. This document presents the haptic-based control of an Interactive Behavior Operated shopping Trolley (InBOT). The haptic-based mode of control enables the user to steer InBOT just like an ordinary shopping cart. Additionally haptic commands are introduced which the user can give the robot using the haptic handle. These commands are classified by a vector support machine and activate corresponding behaviors of the robot's advanced behavior repertoire. Finally the user is supported continuously by features from the robot's basic behavior repertoire like the avoidance of obstacles.