一款可灵活配置的开源人机交互界面，适配多种救援机器人
Hector UI: A Flexible Human-Robot User Interface for (Semi-)Autonomous Rescue and Inspection Robots
- 基于竞赛与实地应用经验设计，支持轮式、履带式、步行机器人
- 在多次机器人竞赛中表现优异，界面可快速适配新机型
- 开源免费，适合救援、巡检类半自主机器人研发团队使用
远程操作员的人机界面（UI）是将机器人作为操作员感知与行动延伸的重要环节。在救援应用中，已有研究基于重大机器人竞赛或实地部署中的观察，总结出良好界面设计的经验准则。然而，以往对竞赛团队界面的评估多依赖外部观察，可能遗漏界面灵活性的关键需求。本文提出一种基于已有准则的开源、可灵活配置的用户界面，并展示了其在轮式、履带式及步行机器人上的示范应用。我们详细说明了设计决策，并分享了在多次机器人竞赛和评估中获得的实践经验。该界面可轻松适配其他机器人，且已开源。
原文摘要 · Abstract (English)
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator interfaces based on observations during major robotics competitions or field deployments. Based on this research, guidelines for good interface design were empirically identified. The investigations on the UIs of teams participating in competitions are often based on external observations during UI application, which may miss some relevant requirements for UI flexibility. In this work, we present an open-source and flexibly configurable user interface based on established guidelines and its exemplary use for wheeled, tracked, and walking robots. We explain the design decisions and cover the insights we have gained during its highly successful applications in multiple robotics competitions and evaluations. The presented UI can also be adapted for other robots with little effort and is available as open source.
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