iRoCo: Intuitive Robot Control From Anywhere Using a Smartwatch

This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic differentiable filters, iRoCo optimizes a combination of precise robot control and unrestricted user movement from ubiqu...

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Bibliographic Details
Published inarXiv.org
Main Authors Weigend, Fabian C, Liu, Xiao, Sonawani, Shubham, Kumar, Neelesh, Vasudevan, Venugopal, Heni Ben Amor
Format Paper Journal Article
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 11.03.2024
Subjects
Computer Science - Robotics
Motion capture
Remote control
Robot control
Smartphones
Smartwatches
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Summary:This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic differentiable filters, iRoCo optimizes a combination of precise robot control and unrestricted user movement from ubiquitous devices. We demonstrate and evaluate the effectiveness of iRoCo in practical teleoperation and drone piloting applications. Comparative analysis shows no significant difference between task performance with iRoCo and gold-standard control systems in teleoperation tasks. Additionally, iRoCo users complete drone piloting tasks 32\% faster than with a traditional remote control and report less frustration in a subjective load index questionnaire. Our findings strongly suggest that iRoCo is a promising new approach for intuitive robot control through smartwatches and smartphones from anywhere, at any time. The code is available at www.github.com/wearable-motion-capture
ISSN:2331-8422
DOI:10.48550/arxiv.2403.07199