Smartphone Teleoperation for Self-balancing Telepresence Robots

Antti E. Ainasoja, Said Pertuz, Joni-Kristian Kämäräinen

2019

Abstract

Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.

Paper Citation

in Harvard Style

Ainasoja A., Pertuz S. and Kämäräinen J. (2019). Smartphone Teleoperation for Self-balancing Telepresence Robots. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 561-568. DOI: 10.5220/0007406405610568

in Bibtex Style

@conference{visapp19,
author={Antti E. Ainasoja and Said Pertuz and Joni-Kristian Kämäräinen},
title={Smartphone Teleoperation for Self-balancing Telepresence Robots},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP},
year={2019},
pages={561-568},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007406405610568},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP
TI - Smartphone Teleoperation for Self-balancing Telepresence Robots
SN - 978-989-758-354-4
AU - Ainasoja A.
AU - Pertuz S.
AU - Kämäräinen J.
PY - 2019
SP - 561
EP - 568
DO - 10.5220/0007406405610568
PB - SciTePress