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A Mixed Reality System for Interaction with Heterogeneous Robotic Systems
A Mixed Reality System for Interaction with Heterogeneous Robotic Systems
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast, effective, and possibly effortless manner. To this end, reality enhancement techniques have been used to achieve efficient management and simplify interactions, in particular in manufacturing and logistics processes. Building upon this, in this paper we propose a system based on mixed reality that allows a ubiquitous interface for heterogeneous robotic systems in dynamic scenarios, where users are involved in different tasks and need to interact with different robots. By means of mixed reality, users can interact with a robot through manipulation of its virtual replica, which is always colocated with the user and is extracted when interaction is needed. The system has been tested in a simulated intralogistics setting, where different robots are present and require sporadic intervention by human operators, who are involved in other tasks. In our setting we consider the presence of drones and AGVs with different levels of autonomy, calling for different user interventions. The proposed approach has been validated in virtual reality, considering quantitative and qualitative assessment of performance and user's feedback.
Comment: Proceedings of the IEEE International Conference on Systems Man and Cybernetics 2023
FOS: Computer and information sciences, Computer Science - Robotics, Robotics (cs.RO)
FOS: Computer and information sciences, Computer Science - Robotics, Robotics (cs.RO)
3414
[1] V. Villani, F. Pini, F. Leali, and C. Secchi, “Survey on human-robot collaboration in industrial settings: Safety, intuitive interfaces and applications,” Mechatronics, vol. 55, pp. 248-266, 2018.
[2] A. Hietanen, R. Pieters, M. Lanz, J. Latokartano, and J.-K. Ka¨ma¨ra¨inen, “Ar-based interaction for human-robot collaborative manufacturing,” Robotics and Computer-Integrated Manufacturing, vol. 63, p. 101891, 2020. [OpenAIRE]
[3] euRobotics, “Strategic research agenda for robotics in Europe 2014- 2020,” euRobotics SPARC, Tech. Rep., Feb. 2013.
[4] P. Neto, J. Norberto Pires, and A. Paulo Moreira, “High-level programming and control for industrial robotics: using a hand-held accelerometer-based input device for gesture and posture recognition,” Industrial Robot: An Int. J., vol. 37, no. 2, pp. 137-147, 2010.
[5] P. Tsarouchi, S. Makris, and G. Chryssolouris, “Human-robot interaction review and challenges on task planning and programming,” International Journal of Computer Integrated Manufacturing, vol. 29, no. 8, pp. 916-931, 2016.
[6] J. Lambrecht, M. Kleinsorge, M. Rosenstrauch, and J. Kr u¨ger, “Spatial programming for industrial robots through task demonstration,” Int. J. Advanced Robotic Systems, vol. 10, no. 5, p. 254, 2013. [OpenAIRE]
[7] S. van Delden, M. Umrysh, C. Rosario, and G. Hess, “Pick-and-place application development using voice and visual commands,” Industrial Robot: An Int. J., vol. 39, no. 6, pp. 592-600, 2012.
[8] A. Rogowski, “Web-based remote voice control of robotized cells,” Robotics and Computer-Integrated Manufacturing, vol. 29, no. 4, pp. 77-89, 2013.
[9] --, “Industrially oriented voice control system,” Robotics and Computer-Integrated Manufacturing, vol. 28, no. 3, pp. 303-315, 2012.
[10] K. Darvish, F. Wanderlingh, B. Bruno, E. Simetti, F. Mastrogiovanni, and G. Casalino, “Flexible human-robot cooperation models for assisted shop-floor tasks,” Mechatronics, vol. 51, pp. 97-114, 2018.
citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).0 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).0 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average
Citations provided by BIP!Popularity provided by BIP!- European Commission (EC)
- 101070351
- HE | HORIZON-RIA ; HE | HORIZON-RIA\HORIZON-AG ; HE | HORIZON-AG
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast, effective, and possibly effortless manner. To this end, reality enhancement techniques have been used to achieve efficient management and simplify interactions, in particular in manufacturing and logistics processes. Building upon this, in this paper we propose a system based on mixed reality that allows a ubiquitous interface for heterogeneous robotic systems in dynamic scenarios, where users are involved in different tasks and need to interact with different robots. By means of mixed reality, users can interact with a robot through manipulation of its virtual replica, which is always colocated with the user and is extracted when interaction is needed. The system has been tested in a simulated intralogistics setting, where different robots are present and require sporadic intervention by human operators, who are involved in other tasks. In our setting we consider the presence of drones and AGVs with different levels of autonomy, calling for different user interventions. The proposed approach has been validated in virtual reality, considering quantitative and qualitative assessment of performance and user's feedback.
Comment: Proceedings of the IEEE International Conference on Systems Man and Cybernetics 2023