Multimodal Interaction for Cobot Using MQTT

IF 2.4 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
J. Rouillard, Jean-Marc Vannobel
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引用次数: 1

Abstract

For greater efficiency, human–machine and human–robot interactions must be designed with the idea of multimodality in mind. To allow the use of several interaction modalities, such as the use of voice, touch, gaze tracking, on several different devices (computer, smartphone, tablets, etc.) and to integrate possible connected objects, it is necessary to have an effective and secure means of communication between the different parts of the system. This is even more important with the use of a collaborative robot (cobot) sharing the same space and very close to the human during their tasks. This study present research work in the field of multimodal interaction for a cobot using the MQTT protocol, in virtual (Webots) and real worlds (ESP microcontrollers, Arduino, IOT2040). We show how MQTT can be used efficiently, with a common publish/subscribe mechanism for several entities of the system, in order to interact with connected objects (like LEDs and conveyor belts), robotic arms (like the Ned Niryo), or mobile robots. We compare the use of MQTT with that of the Firebase Realtime Database used in several of our previous research works. We show how a “pick–wait–choose–and place” task can be carried out jointly by a cobot and a human, and what this implies in terms of communication and ergonomic rules, via health or industrial concerns (people with disabilities, and teleoperation).
使用MQTT的协作机器人多模式交互
为了提高效率,人机和人机交互的设计必须考虑到多模态的思想。为了允许在几个不同的设备(计算机,智能手机,平板电脑等)上使用多种交互方式,例如使用语音,触摸,凝视跟踪,并集成可能的连接对象,有必要在系统的不同部分之间具有有效和安全的通信手段。使用协作机器人(cobot)共享相同的空间,在执行任务时非常接近人类,这一点就更加重要了。本研究介绍了在虚拟(Webots)和现实世界(ESP微控制器,Arduino, IOT2040)中使用MQTT协议的协作机器人的多模态交互领域的研究工作。我们将展示如何有效地使用MQTT,并为系统的多个实体提供公共发布/订阅机制,以便与连接的对象(如led和传送带)、机械臂(如Ned Niryo)或移动机器人进行交互。我们将MQTT的使用与Firebase实时数据库的使用进行了比较,这些数据库在我们之前的几个研究工作中使用过。我们展示了“挑选-等待-选择-放置”任务如何由协作机器人和人类共同执行,以及这在沟通和人体工程学规则方面意味着什么,通过健康或工业问题(残疾人和远程操作)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Multimodal Technologies and Interaction
Multimodal Technologies and Interaction Computer Science-Computer Science Applications
CiteScore
4.90
自引率
8.00%
发文量
94
审稿时长
4 weeks
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