基于增强现实视觉线索的机器人遥操作辅助操作与抓取

S. A. Arboleda, Franziska Rücker, Tim Dierks, J. Gerken
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引用次数: 24

摘要

在同一位置的空间中远程操作工业机械手可能具有挑战性。通过使用增强现实(AR)提供关于环境和机器人功能的额外视觉信息,促进机器人的远程操作,可以提高操作和抓取的任务性能。在本文中,我们提出了两种增强视觉线索的设计,旨在通过提示机器人抓手在工作空间中的位置以及与目标的关系来增强机器人操作员的视觉空间。这些视觉线索旨在提高距离感知,从而提高任务表现。我们在实验中对两种设计进行了基线评估,参与者远程操作机械臂来执行拾取和放置任务。我们的结果显示了不同程度的性能改进,反映了客观和主观的衡量标准,在时间、准确性和参与者对远程操作的看法方面进行了权衡。这些发现表明,增强现实不仅在远程操作方面具有潜力,而且在理解人机工作空间方面也具有潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Assisting Manipulation and Grasping in Robot Teleoperation with Augmented Reality Visual Cues
Teleoperating industrial manipulators in co-located spaces can be challenging. Facilitating robot teleoperation by providing additional visual information about the environment and the robot affordances using augmented reality (AR), can improve task performance in manipulation and grasping. In this paper, we present two designs of augmented visual cues, that aim to enhance the visual space of the robot operator through hints about the position of the robot gripper in the workspace and in relation to the target. These visual cues aim to improve the distance perception and thus, the task performance. We evaluate both designs against a baseline in an experiment where participants teleoperate a robotic arm to perform pick-and-place tasks. Our results show performance improvements in different levels, reflecting in objective and subjective measures with trade-offs in terms of time, accuracy, and participants’ views of teleoperation. These findings show the potential of AR not only in teleoperation, but in understanding the human-robot workspace.
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