sketch_robots - CHI 2009 ~ Robots April 6th, 2009 ~ Boston,...

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Sketch and Run: A Stroke-based Interface for Home Robots Daisuke Sakamoto 1&3 , Koichiro Honda 1&3 , Masahiko Inami 2&3 , Takeo Igarashi 1&3 1 Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-0033 Japan 2 Graduate School of Media Design, Keio University (KMD) 4-1-1 Hiyoshi, Kohoku-ku, Yokohama 223-8526, JAPAN 3 JST, ERATO, IGARASHI Design UI Project, 1-28-1, Koishikawa, Bunkyo-ku, Tokyo, 112-0002 Japan {sakamoto | honda | inami}@designinterface.jp, takeo@acm.org ABSTRACT Numerous robots have been developed, and some of them are already being used in homes, institutions, and workplaces. Despite the development of useful robot functions, the focus so far has not been on user interfaces of robots. General users of robots find it hard to understand what the robots are doing and what kind of work they can do. This paper presents an interface for the commanding home robots by using stroke gestures on a computer screen. This interface allows the user to control robots and design their behaviors by sketching the robot’s behaviors and actions on a top-down view from ceiling cameras. To convey a feeling of directly controlling the robots, our interface employs the live camera view. In this study, we focused on a house-cleaning task that is typical of home robots, and developed a sketch interface for designing behaviors of vacuuming robots. Author Keywords stroke-based interface, sketching interface, stroke gesture, home robot, human robot interaction ACM Classification Keywords H5.2. Information interfaces and presentation (e.g., HCI): User Interfaces - Interaction styles; I.2.9. ARTIFICIAL INTELLIGENCE: Robotics - Operator interfaces INTRODUCTION Significant progress has been made in robotics technology in recent years. In research environments, it is already common to see humanoid robots walking around with biped legs [5], and some of them are capable of using tools designed for humans such as knives and brooms [9]. In the commercial domain, robots are no longer limited to factory environments and are moving into home environments, as signified by the success of vacuuming robots. However, the old-time dream of having a housekeeping robot at home has not really become a reality. The main reasons may be cost and hardware capabilities, but we believe that the lack of vision on how to “control” advanced robots is also a significant limiting factor. One may think that simple vacuuming does not require much control, but in reality, individual users have their own needs and usually want to specify when, where, and how to clean, which is not really well supported by the current systems. Furthermore, if we have an advanced humanoid robot at home, the problem of controlling it is much more serious. Typical demonstrations of these robots assume almost autonomous behaviors, but perfect autonomy is difficult because users have their own preferences and needs, which are hard to estimate beforehand.
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sketch_robots - CHI 2009 ~ Robots April 6th, 2009 ~ Boston,...

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