A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation
Technical Report,01 Sep 2013,01 Dec 2015
US Army Research Laboratory Aberdeen Proving Ground United States
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The Robotic Interactive Visualization and Experimentation Technology RIVET is a computer-based simulation system that was developed to merge game-based technologies with current and next-generation robotic development. The original design of RIVET specifically addressed engineering-related functionality, including the capability to test critical algorithms prior to field testing a robotic system, perform rapid consecutive test scenarios to find software bugs, and conduct algorithm verification across a wide spectrum of test scenarios. While these functional test procedures have been shown to be essential, the design of this game-based platform also lends itself to human-in-the-loop HITL experimentation. This technical report outlines the capabilities of RIVET as a Human Factors platform for HITL human-robot interaction HRI experimentation. It further provides a primer for HRI experimentation development for the nonprogrammer with example Torque Script files and step-by-step instructions to develop the virtual environment. Additional recommendations for collecting subjective and objective human data related to HRI are discussed.