Robot on the leash-an intuitive inexpensive interface for robots using the nintendowii remote

Abstract

This paper presents an easy-to-use interface that takes the robot on a virtual leash: using the Nintendo Wii Remote the user can go towards target places while pointing at the robot. Using the inbuilt infrared camera and accelerometers and a couple of LEDs on the robot, the robot will follow the user. We show how a Particle Filter and an IMMKalman can be configured such that simple hand gestures with the Wii make the robot follow the user's intention. The robot leash interface has been tested with 12 volunteers who are interested in new technology but have never controlled a robot. The result is that most users could within a few minutes show the robot the first three places in a home environment. Given the little cost of the interface (about $50) the proposed robot leash is a promising human robot interface. © 2009 Springer-Verlag Berlin Heidelberg.