An intent-based approach for creating assistive robots' control systems

TL;DR

This paper presents an intent-based method for developing control systems in assistive robots, enabling responsive interaction through various human-machine interfaces, demonstrated on a real TIAGo robot platform.

Contribution

It introduces a novel approach for creating assistive robot control systems that respond to user intents via multiple interfaces, validated on a real robot platform.

Findings

Effective voice and button command recognition

Successful implementation on TIAGo robot

Enhanced human-robot interaction capabilities

Abstract

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users' intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.