.png){kind=icon}
.png){kind=icon}
Return
Object interaction and task programming by demonstration in visuo-haptic augmented reality
.png){kind=icon}
PRE
AI
DOI：10.1007/s00530-015-0488-z.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
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.
Keywords:
Visuo-haptic augmented reality
Programming by demonstration
Collaborative manipulation
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.