複合現実ヘッドマウントディスプレイによるロボットアームの動作意図の提示
Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displays
ロボットアームの予定動作を複合現実HMDで実世界に重ねて表示し、2Dディスプレイや表示なしと比較して、衝突判定の正確性が16%向上し作業時間が62%短縮できることを示した。
著者: Eric Rosen, David Whitney, Elizabeth Phillips, Gary Chien, James Tompkin, George Konidaris, Stefanie Tellex
分類: cs.RO, cs.HC
原文アブストラクト
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer's real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16% increase in accuracy with a 62% decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.
