Object interaction and task programming by demonstration in visuo-haptic augmented reality

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• 作者：Jacopo Aleotti ; Giorgio Micconi ; Stefano Caselli
• 关键词：Visuo ; haptic augmented reality ; Programming by demonstration ; Collaborative manipulation
• 刊名：Multimedia Systems
• 出版年：2016
• 出版时间：November 2016
• 年：2016
• 卷：22
• 期：6
• 页码：675-691
• 全文大小：3,383 KB
• 刊物类别：Computer Science
• 刊物主题：Multimedia Information Systems
  Computer Communication Networks
  Operating Systems
  Data Storage Representation
  Data Encryption
  Computer Graphics
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1432-1882
• 卷排序：22

文摘

A visuo-haptic augmented reality system is presented for object manipulation and task learning from human demonstration. The proposed system consists of a desktop augmented reality setup where users operate a haptic device for object interaction. Users of the haptic device are not co-located with the environment where real objects are present. A three degrees of freedom haptic device, providing force feedback, is adopted for object interaction by pushing, selection, translation and rotation. The system also supports physics-based animation of rigid bodies. Virtual objects are simulated in a physically plausible manner and seem to coexist with real objects in the augmented reality space. Algorithms for calibration, object recognition, registration and haptic rendering have been developed. Automatic model-based object recognition and registration are performed from 3D range data acquired by a moving laser scanner mounted on a robot arm. Several experiments have been performed to evaluate the augmented reality system in both single-user and collaborative tasks. Moreover, the potential of the system for programming robot manipulation tasks by demonstration is investigated. Experiments show that a precedence graph, encoding the sequential structure of the task, can be successfully extracted from multiple user demonstrations and that the learned task can be executed by a robot system.