KURE: Kinematic universal remote interface a human centred remote robot control paradigm

摘要

In this paper we present a novel approach to human-robot control. Taking inspiration from Behaviour Based robotics and self-organisation principles, we present an interfacing mechanism, named KURE in this paper, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Starting from a tabula rasa basis, KURE is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole.