Communicating human intent to a robotic companion by multi-type gesture sentences

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00370710" target="_blank" >RIV/68407700:21730/23:00370710 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/IROS55552.2023.10341944" target="_blank" >https://doi.org/10.1109/IROS55552.2023.10341944</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS55552.2023.10341944" target="_blank" >10.1109/IROS55552.2023.10341944</a>

Result language

angličtina

Original language name

Communicating human intent to a robotic companion by multi-type gesture sentences

Original language description

Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a few robotic systems utilize gestures for communication. In this paper, we propose a gesture pseudo-language and show how multiple types of gestures can be combined to express human intent to a robot (i.e., expressing both the desired action and its parameters - e.g., pointing to an object and showing that the object should be emptied into a bowl). The demonstrated gestures and the perceived tabletop scene (object poses detected by CosyPose) are processed in real-time) to extract the human's intent. We utilize behavior trees to generate reactive robot behavior that handles various possible states of the world (e.g., a drawer has to be opened before an object is placed into it) and recovers from errors (e.g., when the scene changes). Furthermore, our system enables switching between direct teleoperation of the end-effector and high-level operation using the proposed gesture sentences. The system is evaluated on increasingly complex tasks using a real 7-DoF Franka Emika Panda manipulator. Controlling the robot via action gestures lowered the execution time by up to 60%, compared to direct teleoperation.

Czech name

—

Czech description

—

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

<a href="/en/project/GA21-31000S" target="_blank" >GA21-31000S: Multimodal representation of robotic actions and tasks applied to Learning by demonstration</a><br>

Continuities

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

Publication year

2023

Confidentiality

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

Article name in the collection

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-6654-9190-7

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

7

Pages from-to

9839-9845

Publisher name

IEEE

Place of publication

Piscataway

Event location

Detroit, MA

Event date

Oct 1, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001136907803094