End-User Robot Programming Using Mixed Reality

Mixed Reality (MR) is a promising interface for robot programming because it can project an immersive 3D visualization of a robot's intended movement onto the real world. MR can also support hand gestures, which provide an intuitive way for users to construct and modify robot motions. We presen...

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Vydáno v:Proceedings - IEEE International Conference on Robotics and Automation s. 2707 - 2713
Hlavní autoři: Gadre, Samir Yitzhak, Rosen, Eric, Chien, Gary, Phillips, Elizabeth, Tellex, Stefanie, Konidaris, George
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.05.2019
Témata:
Programming
Robot sensing systems
Task analysis
Two dimensional displays
Virtual reality
Visualization
ISSN:2577-087X
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Shrnutí:Mixed Reality (MR) is a promising interface for robot programming because it can project an immersive 3D visualization of a robot's intended movement onto the real world. MR can also support hand gestures, which provide an intuitive way for users to construct and modify robot motions. We present a Mixed Reality Head-Mounted Display (MRHMD) interface that enables end-users to easily create and edit robot motions using waypoints. We describe a user study where 20 participants were asked to program a robot arm using 2D and MR interfaces to perform two pick-and-place tasks. In the primitive task, participants created typical pickand-place programs. In the adapted task, participants adapted their primitive programs to address a more complex pickand-place scenario, which included obstacles and conditional reasoning. Compared to the 2D interface, a higher number of users were able to complete both tasks in significantly less time, and reported experiencing lower cognitive workload, higher usability, and higher naturalness with the MR-HMD interface.
ISSN:2577-087X
DOI:10.1109/ICRA.2019.8793988