TY - GEN
T1 - Robot Button Pressing in Human Environments
AU - Wang, Fan
AU - Chen, Gerry
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - In order to conduct many desirable functions, service robots will need to actuate buttons and switches that are designed for humans. This paper presents the design of a robot named SwitchIt that is small, relatively inexpensive, easily mounted on a mobile robot, and actuates buttons reliably. Its operating characteristics were developed after conducting a systematic study of buttons and switches in human environments. From this study, we develop a categorization of buttons based on a set of physical properties relevant for robots to operate them. After a human calibrates and annotates buttons in the robot's environment using a hand-held tablet, the system automatically recognizes, pushes, and detects the state of a variety of buttons. Empirical tests demonstrate that the system succeeds in operating 95.7% of 234 total buttons/switches in an office building and a household environment.
AB - In order to conduct many desirable functions, service robots will need to actuate buttons and switches that are designed for humans. This paper presents the design of a robot named SwitchIt that is small, relatively inexpensive, easily mounted on a mobile robot, and actuates buttons reliably. Its operating characteristics were developed after conducting a systematic study of buttons and switches in human environments. From this study, we develop a categorization of buttons based on a set of physical properties relevant for robots to operate them. After a human calibrates and annotates buttons in the robot's environment using a hand-held tablet, the system automatically recognizes, pushes, and detects the state of a variety of buttons. Empirical tests demonstrate that the system succeeds in operating 95.7% of 234 total buttons/switches in an office building and a household environment.
UR - http://www.scopus.com/inward/record.url?scp=85063155221&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063155221&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8463180
DO - 10.1109/ICRA.2018.8463180
M3 - Conference contribution
AN - SCOPUS:85063155221
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7173
EP - 7180
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -