Name
Title | ||
|---|---|---|
Object interaction and task programming by demonstration in visuo-haptic augmented reality |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/s00530-015-0488-z | Multimedia Syst. |
Keywords | Field | DocType |
Visuo-haptic augmented reality, Programming by demonstration, Collaborative manipulation | Programming by demonstration,Computer vision,Robotic arm,Computer science,Augmented reality,Animation,Artificial intelligence,Robot,Precedence graph,Haptic technology,Cognitive neuroscience of visual object recognition | Journal |
Volume | Issue | ISSN |
22 | 6 | 1432-1882 |
Citations | PageRank | References |
0 | 0.34 | 25 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jacopo Aleotti | 1 | 259 | 29.76 |
| Giorgio Micconi | 2 | 9 | 1.52 |
| Stefano Caselli | 3 | 314 | 36.32 |