We have designed and are developing a modular robot system called PetRo (Pet Robot) as part of the ReLIVE project. In this paper we briefly introduce the ReLIVE project to give an overall picture of the context within which we are developing PetRo. We compare the design and functions of PetRo to the modular robots we have surveyed, we also give a listing of the Degrees-of-freedoms our configuration deliver. There have been several issues to address during the development of PetRo such as the design of the shape and joints. We present the results we have achieved as well as the simulations we have run to analyze the mobility and self-assembly of the system in a combination of one, two and four modules. More specifically the outcomes from the fabrication of the first module are presented as well as the necessary changes in the design required from the results. Several trade-off had to be made between the complexity of the design and the simplicity of the actuation and control; we present these alongside our reasons to select the current configuration with self-configuration and overall mobility in mind. We also put forwards proposals regarding the inclusion of an array of sensors for an autonomous behavior, we explain our vision of a herd of PetRos with social behaviors.
We report on the design issues of the User Interface for the MINIMAN system, a micro-robot with a sub millimetre precision manipulator. We introduce the project and its specifications alongside the requirements for the User Interface. The aim is to implement a semi-autonomous, computer vision controlled micro-robot, with a powerful interface. Having the user on a different scale than the robot is equivalent in terms of the user interface to a telecontrol configuration even if the user and the robot are located in the same room. Such a configuration requires a user/robot control loop, integrated in the interface, which address the following issues: The perception by the user of the current situation so that he become aware of what is the state of the robot and of the environment, the presentation of the possible actions and the mean to initiate them so that the user can plan and schedule his actions, and finally a feedback to the user when the robot has performed an action which lets the user become aware of the resulting effects of his actions. We have studied different approaches to the design of the user interface resulting from the need for a user-friendly robot destined to an industrial environment. The approaches of a particular interest are: Graphical User Interface, web interface and Virtual Environment. Although partially implemented at this stage they are described with analysis.
A telepresence system immerses a user in a remote environment. As a result, the displaying of that environment and the interaction channels available are of paramount importance. In fact, such a system is primarily designed and evaluated in according to its user interface. Not only in terms of the plenitude of interaction channels, or media, but also in terms of their combination to deliver an interactive experience or mode to the user. In this paper we look at the requirements for a telepresence system, the modes and media of interaction matching these requirements and the overall interface architecture. We present some results of early experiments with voice input and gesture input.
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