Multimodal interaction with an autonomous forklift
Name
Correa-2010-Multimodal interaction with an autonomous forklift.pdf
Size
1.3 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Correa, Andrew Thomas
Walter, Matthew R.
Fletcher, Luke Sebastian
Glass, James R.
Teller, Seth
Davis, Randall
Date Issued
April 2010
Journal
2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Correa, Andrew et al. “Multimodal Interaction with an Autonomous Forklift.” IEEE, 2010. 243–250. Web. 5 Apr. 2012. © 2010 Institute of Electrical and Electronics Engineers
Version
Final published version
Abstract
We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift using speech and sketch. Most current sketch interfaces treat the canvas as a blank slate. In contrast, our interface uses live and synthesized camera images from the forklift as a canvas, and augments them with object and obstacle information from the world. This connection enables users to ¿draw on the world,¿ enabling a simpler set of sketched gestures. Our interface supports commands that include summoning the forklift and directing it to lift, transport, and place loads of palletized cargo. We describe an exploratory evaluation of the system designed to identify areas for detailed study. Our framework incorporates external signaling to interact with humans near the vehicle. The robot uses audible and visual annunciation to convey its current state and intended actions. The system also provides seamless autonomy handoff: any human can take control of the robot by entering its cabin, at which point the forklift can be operated manually until the human exits.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/HRI.2010.5453188
