Combining Interactive Spatial Augmented Reality with Head-Mounted Display for End-User Collaborative Robot Programming

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F19%3APU134953" target="_blank" >RIV/00216305:26230/19:PU134953 - isvavai.cz</a>

Result on the web

<a href="https://www.fit.vut.cz/research/publication/12007/" target="_blank" >https://www.fit.vut.cz/research/publication/12007/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/RO-MAN46459.2019.8956315" target="_blank" >10.1109/RO-MAN46459.2019.8956315</a>

Result language

angličtina

Original language name

Combining Interactive Spatial Augmented Reality with Head-Mounted Display for End-User Collaborative Robot Programming

Original language description

This paper proposes an intuitive approach for collaborative robot end-user programming using a combination of interactive spatial augmented reality (ISAR) and head-mounted display (HMD). It aims to reduce user's workload and to let the user program the robot faster than in classical approaches (e.g. kinesthetic teaching). The proposed approach, where user is using a mixed-reality HMD - Microsoft HoloLens - and touch-enabled table with SAR projected interface as input devices, is compared to a baseline approach, where robot's arms and a touch-enabled table are used as input devices only. Main advantages of the proposed approach are the possibility to program the collaborative workspace without the presence of the robot, its speed in comparison to the kinesthetic teaching and an ability to quickly visualize learned program instructions, in form of virtual objects, to enhance the users' orientation within those programs. The approach was evaluated on a set of 20 users using the within-subject experiment design. Evaluation consisted of two pick and place tasks, where users had to start from the scratch as well as to update the existing program. Based on the experiment results, the proposed approach is better in qualitative measures by 33.84% and by 28.46% in quantitative measures over the baseline approach for both tasks.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

ISBN

978-1-7281-2622-7

ISSN

—

e-ISSN

—

Number of pages

8

Pages from-to

1-9

Publisher name

Institute of Electrical and Electronics Engineers

Place of publication

New Delhi

Event location

New Delhi

Event date

Oct 14, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000533896300031