Step-on interface on mobile robot to operate by stepping on projected button

Takafumi Matsumaru*, Kosuke Akai

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This paper proposes the step-on interface (SOI) to operate a mobile robot in which a projector projects and displays a direction screen on a floor and a user specifies a button showing the selected movement by stepping or pointing. The HFAMRO-1 mobile robot has been developed to demonstrate the SOI's potential (HFAMRO: "human-friendly amusing" mobile robot). The SOI of HFAMRO-1 consists of a projector and a range scanner on an omni-directional mobile platform. From operational comparison with other input interfaces, it is confirmed that we can direct the robot movement using our own foot. We had some students who does not specialize robotic systems try to operate HFAMRO-1 with their shoes, and all trial students could specify the button to operate the robot satisfactorily and everyone mastered the SOI immediately.

Original languageEnglish
Pages (from-to)85-95
Number of pages11
JournalOpen Automation and Control Systems Journal
Issue number1
Publication statusPublished - 2009
Externally publishedYes


  • Direction screen
  • Human-friendly amusing mobile robot (HFAMRO)
  • Projector
  • Range scanner
  • Step-on interface (SOI)

ASJC Scopus subject areas

  • Control and Systems Engineering


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