Search Content

Mediating Human-Robot Collaboration through Mixed Reality Cues

Description

This work presents a communication paradigm, using a context-aware mixed reality approach, for instructing human workers when collaborating with robots. The main objective of this approach is to utilize the physical work environment as a canvas to communicate task-related instructions and robot intentions in the form of visual cues. A…

This work presents a communication paradigm, using a context-aware mixed reality approach, for instructing human workers when collaborating with robots. The main objective of this approach is to utilize the physical work environment as a canvas to communicate task-related instructions and robot intentions in the form of visual cues. A vision-based object tracking algorithm is used to precisely determine the pose and state of physical objects in and around the workspace. A projection mapping technique is used to overlay visual cues on tracked objects and the workspace. Simultaneous tracking and projection onto objects enables the system to provide just-in-time instructions for carrying out a procedural task. Additionally, the system can also inform and warn humans about the intentions of the robot and safety of the workspace. It was hypothesized that using this system for executing a human-robot collaborative task will improve the overall performance of the team and provide a positive experience to the human partner. To test this hypothesis, an experiment involving human subjects was conducted and the performance (both objective and subjective) of the presented system was compared with a conventional method based on printed instructions. It was found that projecting visual cues enabled human subjects to collaborate more effectively with the robot and resulted in higher efficiency in completing the task.

ContributorsKalpagam Ganesan, Ramsundar (Author) / Ben Amor, Hani (Thesis advisor) / Yang, Yezhou (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)

Created2017

Filtering by

Mediating Human-Robot Collaboration through Mixed Reality Cues

Sonata in D major, op. 49a. Presto

Sonata no. 1 in F minor for violin and piano, op. 80. Allegro brusco

Sonata no. 1 in F minor for violin and piano, op. 80. Andante

Sonata no. 1 in F minor for violin and piano, op. 80. Allegrissimo

Sonata no. 2 in D minor, op. 14. I. Allegro, ma non troppo

Sonata no. 2 in D minor, op. 14. IV. Vivace

Sonata in D major for violin and piano, op. 94a

Romeo and Juliet op. 75 ; Toccata, op. 11

Sonata for flute and piano op. 94. Moerato