Human-Robot Interaction Additional Info

Screenshots

The interaction world is an a priori modeled environment based on Room 010 in the Durand Building at Stanford University. The 3-D implementation allows the user to view the robots in action from many perspectives, even those not possible in real life. Some example screenshots are shown here.

Live and Virtual Scene Comparison

From far above

A closeup of Huey at work

Just above the tabletop

The view when entering the room

User Interaction

The user is aided by various software agents that listen to the robots and perform helpful tasks, from determining what capabilities can be afforded to the user to collecting information about the world for later redistribution.

Afforded actions may change depending on instantaneous robot abilities

The Query Agent can list all tasks possible on a given object

System Diagrams

The system is made up of a community of agents that include the robots, the interface, and information-processing agents. For communication, the system uses the Network Data Delivery Service (NDDS) from RTI and the Open Agent Architecture (OAA) from SRI. NDDS handles medium- and high-frequency state updates, while OAA is responsible for the dialogues between agents that take place less often.

Communication Infrastructure