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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

ISBN

978-1-7281-2622-7

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

1-9

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

New Delhi

Místo konání akce

New Delhi

Datum konání akce

14. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000533896300031