Publication Details

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

BAMBUŠEK Daniel, MATERNA Zdeněk, KAPINUS Michal, BERAN Vítězslav and SMRŽ Pavel. Combining Interactive Spatial Augmented Reality with Head-Mounted Display for End-User Collaborative Robot Programming. In: 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). New Delhi: Institute of Electrical and Electronics Engineers, 2019, pp. 1-9. ISBN 978-1-7281-2622-7.
Czech title
Kombinace interaktivní promítané rozšířené reality s brýlemi pro rozšířenou realitu pro programování kolaborativních robotů
Type
conference paper
Language
english
Authors
Bambušek Daniel, Ing. (DCGM FIT BUT)
Materna Zdeněk, Ing., Ph.D. (DCGM FIT BUT)
Kapinus Michal, Ing. (DCGM FIT BUT)
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT)
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT)
Keywords

Spatial Augmented Reality, Head-Mounted Display, Microsoft HoloLens, Collaborative Robots, Robot Programming, Human-Robot Interaction

Abstract

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.

Published
2019
Pages
1-9
Proceedings
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
Conference
The 28th IEEE International Conference on Robot & Human Interactive Communication, New Delhi, IN
ISBN
978-1-7281-2622-7
Publisher
Institute of Electrical and Electronics Engineers
Place
New Delhi, IN
DOI
10.1109/RO-MAN46459.2019.8956315
UT WoS
000533896300031
EID Scopus
2-s2.0-85078870397
BibTeX 
@INPROCEEDINGS{FITPUB12007,
   author = "Daniel Bambu\v{s}ek and Zden\v{e}k Materna and Michal Kapinus and V\'{i}t\v{e}zslav Beran and Pavel Smr\v{z}",
   title = "Combining Interactive Spatial Augmented Reality with Head-Mounted Display for End-User Collaborative Robot Programming",
   pages = "1--9",
   booktitle = "2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)",
   year = 2019,
   location = "New Delhi, IN",
   publisher = "Institute of Electrical and Electronics Engineers",
   ISBN = "978-1-7281-2622-7",
   doi = "10.1109/RO-MAN46459.2019.8956315",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/12007"
}
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