Haptic Guidance in Urban Search and Rescue Scenarios with Reduced Visibility

Stefano Scheggi, Gionata Salvietti

Abstract

The use of robots in Urban Search and Rescue (USAR) has been widely studied in the last two decades. This scenario offers a unique opportunity to investigate Human Robot Interaction (HRI) in unstructured environments. In this paper, we present a possible paradigm of communication between human and robot based on haptic guidance. In particular, we developed a HRI framework in which the human agent is guided by a robot through a vibrating bracelet. The robot has on-board the necessary sensors to localize itself on a map or to build a new map in case of debris or collapsed walls. Moreover, the robot can localize the human position using a RGB-D camera (e.g., the kinect sensor) and generate commands for the haptic guidance. This approach could be particularly suited in case of reduced visibility.

Keywords

Haptic guidance, Robotic Search and Rescue, human robot cooperation

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DOI

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IMEKO TC

TC4 - Measurement of Electrical Quantities

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