We present a within-subjects user study to compare robot teleoperation schemes based on traditional PC and game console input hardware, to a 3D spatial interaction interface. The goal of the study is to explore whether 3D spatial gestures can be an effective teleoperation scheme for multiple robot configurations in a heterogeneous Human-Robot Team (HRT). Our research explores the user’s performance and disposition towards each teleoperation scheme so as to study their preferences regarding the efficacy of gesture-based teleoperation. Our results indicate that despite little training and lack of exposure on using 3D spatial interaction schemes to control robots, users are able to complete a complex task with the robot team with no statistically significant difference in quantitative performance. Qualitative statistics are analyzed and a discussion of user preferences is provided.
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