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Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots

One of the challenges of outdoor robots is developing effective portable Human-Robot-Interaction (HRI) frameworks. Hand-held devices offer a practical solution. By equipping these devices with robot software, they can be made to interact with the outdoor robots. Android devices are ideal as they are...

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Main Authors: Hajjaj S.S.H., Sahari K.S.M.
Other Authors: 55812832600
Format: Article
Published: Springer Verlag 2023
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spelling my.uniten.dspace-243402023-05-29T15:22:52Z Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots Hajjaj S.S.H. Sahari K.S.M. 55812832600 57218170038 One of the challenges of outdoor robots is developing effective portable Human-Robot-Interaction (HRI) frameworks. Hand-held devices offer a practical solution. By equipping these devices with robot software, they can be made to interact with the outdoor robots. Android devices are ideal as they are open source and can be integrated with robots powered by the Robot Operating System (ROS), also open source. However, due to the limits of rosjava, the mechanism that links ROS with android, and the conflicting modes of operation between ROS and android, current implementations of ROS-android offer limited robot applications that do not support advanced operations such as autonomous navigation and others. This paper implements selective compartmentalization to overcome these limitations, by combining ROS with android through a number of ROS and android bridges that would facilitate the development of advanced robot applications. Through the proposed method, authors were able to develop a portable HRI framework that allowed human operators to supervise an outdoor mobile robot while it performed an autonomous task. From their mobile devices, users were able to initialize the robot, configure its motion, and monitor its progress. Also, users were able to reprogram the robot to perform new tasks (not previously planned) through a creative use of features offered in the developed HRI framework. Also, user cognitive effort was reported to be low as evident by the positive score on the NASA-TLX scale test which was corroborated with robot performance data. This paper presents the detailed development and implementation steps. � 2019, King Fahd University of Petroleum & Minerals. Final 2023-05-29T07:22:52Z 2023-05-29T07:22:52Z 2019 Article 10.1007/s13369-019-04009-z 2-s2.0-85068821884 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85068821884&doi=10.1007%2fs13369-019-04009-z&partnerID=40&md5=d06cb9a13ab7e435e2ecd6f7554710f2 https://irepository.uniten.edu.my/handle/123456789/24340 44 11 9779 9786 Springer Verlag Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description One of the challenges of outdoor robots is developing effective portable Human-Robot-Interaction (HRI) frameworks. Hand-held devices offer a practical solution. By equipping these devices with robot software, they can be made to interact with the outdoor robots. Android devices are ideal as they are open source and can be integrated with robots powered by the Robot Operating System (ROS), also open source. However, due to the limits of rosjava, the mechanism that links ROS with android, and the conflicting modes of operation between ROS and android, current implementations of ROS-android offer limited robot applications that do not support advanced operations such as autonomous navigation and others. This paper implements selective compartmentalization to overcome these limitations, by combining ROS with android through a number of ROS and android bridges that would facilitate the development of advanced robot applications. Through the proposed method, authors were able to develop a portable HRI framework that allowed human operators to supervise an outdoor mobile robot while it performed an autonomous task. From their mobile devices, users were able to initialize the robot, configure its motion, and monitor its progress. Also, users were able to reprogram the robot to perform new tasks (not previously planned) through a creative use of features offered in the developed HRI framework. Also, user cognitive effort was reported to be low as evident by the positive score on the NASA-TLX scale test which was corroborated with robot performance data. This paper presents the detailed development and implementation steps. � 2019, King Fahd University of Petroleum & Minerals.
author2 55812832600
author_facet 55812832600
Hajjaj S.S.H.
Sahari K.S.M.
format Article
author Hajjaj S.S.H.
Sahari K.S.M.
spellingShingle Hajjaj S.S.H.
Sahari K.S.M.
Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
author_sort Hajjaj S.S.H.
title Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
title_short Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
title_full Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
title_fullStr Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
title_full_unstemmed Developing a Portable Human�Robot Interaction (HRI) Framework for Outdoor Robots Through Selective Compartmentalization: Effective Integration of the Robot Operating System (ROS) and Android for Outdoor Robots
title_sort developing a portable human�robot interaction (hri) framework for outdoor robots through selective compartmentalization: effective integration of the robot operating system (ros) and android for outdoor robots
publisher Springer Verlag
publishDate 2023
_version_ 1806425738549657600
score 13.222552

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