Paper Info
Title
Programming manipulation tasks by demonstration in visuo-haptic augmented reality
Abstract
This work investigates the use of visuo-haptic augmented reality for programming object manipulation tasks by demonstration. A desktop augmented reality system is presented in which the user is not co-located with the environment and a 3DOF haptic device, providing force feedback, is adopted for user interaction. The interaction paradigm allows the user to select and manipulate virtual objects superimposed upon a visual representation of the real workspace. The approach also supports physics-based animation of rigid bodies. In the proposed method automatic object recognition and registration are performed from 3D range data acquired by a laser scanner mounted on a robot arm. We next investigate the potential of the augmented reality system for programming manipulation tasks by demonstration. Experiments show that a precedence graph, encoding the sequential structure of the task, can be successfully extracted from multiple user demonstrations.
Year
DOI
Venue
2014
10.1109/HAVE.2014.6954324
Haptic, Audio and Visual Environments and Games
Keywords
Field
DocType
augmented reality,automatic programming,computer animation,force feedback,haptic interfaces,object recognition,optical scanners,robots,3d range data,3dof haptic device,automatic object recognition,desktop augmented reality system,encoding,laser scanner,multiple user demonstrations,programming object manipulation,rigid bodies,robot arm,sequential structure,user interaction,visual representation,visuo-haptic augmented reality
Computer vision,Robotic arm,Laser scanning,Computer graphics (images),Workspace,Computer science,Augmented reality,Artificial intelligence,Animation,Precedence graph,Haptic technology,Encoding (memory)
Conference
ISBN
Citations 
PageRank 
978-1-4799-5963-1
3
0.37
References 
Authors
18
3
Name
Order
Citations
PageRank
Jacopo Aleotti125929.76
Giorgio Micconi291.52
Stefano Caselli331436.32