A visualisation and simulation framework for local and remote HRI experimentation

Gradil, A and Ferreira, JF ORCID: https://orcid.org/0000-0002-2510-2412, 2016. A visualisation and simulation framework for local and remote HRI experimentation. In: Bessa, M and Gonçalves, G, eds., 2016 23◦ Encontro Português de Computação Grãfica e Interação (EPCGI), Covilhã, Portugal, 24-25 novembro 2016. Piscataway, NJ: Institute of Electrical and Electronics Engineers, pp. 59-66. ISBN 9781509053872

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Abstract

In this text, we will present work on the design and development of a ROS-based (Robot Operating System) remote 3D visualisation, control and simulation framework. This architecture has the purpose of extending the usability of a system devised in previous work by this research team during the CASIR (Coordinated Attention for Social Interaction with Robots) project. The proposed solution was implemented using ROS, and designed to attend the needs of two user groups – local and remote users and developers. The framework consists of: (1) a fully functional simulator integrated with the ROS environment, including a faithful representation of a robotic platform, a human model with animation capabilities and enough features for enacting human robot interaction scenarios, and a virtual experimental setup with similar features as the real laboratory workspace; (2) a fully functional and intuitive user interface for monitoring and development; (3) a remote robotic laboratory that can connect remote users to the framework via a web browser. The proposed solution was thoroughly and systematically tested under operational conditions, so as to assess its qualities in terms of features, ease-of-use and performance. Finally, conclusions concerning the success and potential of this research and development effort are drawn, and the foundations for future work will be proposed.

Item Type:	Chapter in book
Creators:	Gradil, A. and Ferreira, J.F.
Publisher:	Institute of Electrical and Electronics Engineers
Place of Publication:	Piscataway, NJ
Date:	2016
ISBN:	9781509053872
Identifiers:	Number Type 10.1109/EPCGI.2016.7851191 DOI
Divisions:	Schools > School of Science and Technology
Record created by:	Jonathan Gallacher
Date Added:	04 Apr 2018 13:05
Last Modified:	04 Apr 2018 13:12
URI:	https://irep.ntu.ac.uk/id/eprint/33179

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