| 1. |
- Bunz, Elsa, et al.
(författare)
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Spatial Augmented Reality and Eye Tracking for Evaluating Human Robot Interaction
- 2016
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Ingår i: Proceedings of RO-MAN 2016 Workshop.
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Konferensbidrag (refereegranskat)abstract
- Freely moving autonomous mobile robots may leadto anxiety when operating in workspaces shared with humans.Previous works have given evidence that communicating in-tentions using Spatial Augmented Reality (SAR) in the sharedworkspace will make humans more comfortable in the vicinity ofrobots. In this work, we conducted experiments with the robotprojecting various patterns in order to convey its movementintentions during encounters with humans. In these experiments,the trajectories of both humans and robot were recorded witha laser scanner. Human test subjects were also equipped withan eye tracker. We analyzed the eye gaze patterns and thelaser scan tracking data in order to understand how the robot’sintention communication affects the human movement behavior.Furthermore, we used retrospective recall interviews to aid inidentifying the reasons that lead to behavior changes.
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| 2. |
- Chadalavada, Ravi Teja, 1989-, et al.
(författare)
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Empirical evaluation of human trust in an expressive mobile robot
- 2016
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Ingår i: Proceedings of RSS Workshop "Social Trust in Autonomous Robots 2016".
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Konferensbidrag (refereegranskat)abstract
- A mobile robot communicating its intentions using Spatial Augmented Reality (SAR) on the shared floor space makes humans feel safer and more comfortable around the robot. Our previous work [1] and several other works established this fact. We built upon that work by adding an adaptable information and control to the SAR module. An empirical study about how a mobile robot builds trust in humans by communicating its intentions was conducted. A novel way of evaluating that trust is presented and experimentally shown that adaption in SAR module lead to natural interaction and the new evaluation system helped us discover that the comfort levels between human-robot interactions approached those of human-human interactions.
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| 3. |
- Chadalavada, Ravi Teja, 1989-, et al.
(författare)
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That’s on my Mind! : Robot to Human Intention Communication through on-board Projection on Shared Floor Space
- 2015
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Ingår i: 2015 European Conference on Mobile Robots (ECMR). - New York : IEEE conference proceedings. - 9781467391634
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Konferensbidrag (refereegranskat)abstract
- The upcoming new generation of autonomous vehicles for transporting materials in industrial environments will be more versatile, flexible and efficient than traditional AGVs, which simply follow pre-defined paths. However, freely navigating vehicles can appear unpredictable to human workers and thus cause stress and render joint use of the available space inefficient. Here we address this issue and propose on-board intention projection on the shared floor space for communication from robot to human. We present a research prototype of a robotic fork-lift equipped with a LED projector to visualize internal state information and intents. We describe the projector system and discuss calibration issues. The robot’s ability to communicate its intentions is evaluated in realistic situations where test subjects meet the robotic forklift. The results show that already adding simple information, such as the trajectory and the space to be occupied by the robot in the near future, is able to effectively improve human response to the robot.
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| 4. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Generation of independent contact regions on objects reconstructed from noisy real-world range data
- 2012
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Ingår i: 2012 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781467314053 - 9781467314039 ; , s. 1338-1344
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Konferensbidrag (refereegranskat)abstract
- The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.
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| 5. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Independent contact regions based on a patch contact model
- 2012
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Ingår i: 2012 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781467314053 - 9781467314039 ; , s. 4162-4169
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Konferensbidrag (refereegranskat)abstract
- The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.
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| 6. |
- Kragic, Danica, 1971-, et al.
(författare)
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Interactive, collaborative robots : Challenges and opportunities
- 2018
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Ingår i: IJCAI International Joint Conference on Artificial Intelligence. - California : International Joint Conferences on Artificial Intelligence. ; , s. 18-25
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Konferensbidrag (refereegranskat)abstract
- Robotic technology has transformed manufacturing industry ever since the first industrial robot was put in use in the beginning of the 60s. The challenge of developing flexible solutions where production lines can be quickly re-planned, adapted and structured for new or slightly changed products is still an important open problem. Industrial robots today are still largely preprogrammed for their tasks, not able to detect errors in their own performance or to robustly interact with a complex environment and a human worker. The challenges are even more serious when it comes to various types of service robots. Full robot autonomy, including natural interaction, learning from and with human, safe and flexible performance for challenging tasks in unstructured environments will remain out of reach for the foreseeable future. In the envisioned future factory setups, home and office environments, humans and robots will share the same workspace and perform different object manipulation tasks in a collaborative manner. We discuss some of the major challenges of developing such systems and provide examples of the current state of the art.
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| 7. |
- Krug, Robert, 1981-, et al.
(författare)
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Analytic Grasp Success Prediction with Tactile Feedback
- 2016
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - New York, USA : IEEE. - 1050-4729. ; , s. 165-171
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Konferensbidrag (refereegranskat)abstract
- Predicting grasp success is useful for avoiding failures in many robotic applications. Based on reasoning in wrench space, we address the question of how well analytic grasp success prediction works if tactile feedback is incorporated. Tactile information can alleviate contact placement uncertainties and facilitates contact modeling. We introduce a wrench-based classifier and evaluate it on a large set of real grasps. The key finding of this work is that exploiting tactile information allows wrench-based reasoning to perform on a level with existing methods based on learning or simulation. Different from these methods, the suggested approach has no need for training data, requires little modeling effort and is computationally efficient. Furthermore, our method affords task generalization by considering the capabilities of the grasping device and expected disturbance forces/moments in a physically meaningful way.
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| 8. |
- Krug, Robert, 1981-, et al.
(författare)
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Evaluating the Quality of Non-Prehensile Balancing Grasps
- 2018
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Ingår i: 2018 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE Computer Society. - 2577-087X .- 2577-087X. ; , s. 4215-4215
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Konferensbidrag (refereegranskat)abstract
- Assessing grasp quality and, subsequently, predicting grasp success is useful for avoiding failures in many autonomous robotic applications. In addition, interest in nonprehensile grasping and manipulation has been growing as it offers the potential for a large increase in dexterity. However, while force-closure grasping has been the subject of intense study for many years, few existing works have considered quality metrics for non-prehensile grasps. Furthermore, no studies exist to validate them in practice. In this work we use a real-world data set of non-prehensile balancing grasps and use it to experimentally validate a wrench-based quality metric by means of its grasp success prediction capability. The overall accuracy of up to 84 % is encouraging and in line with existing results for force-closure grasps.
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| 9. |
- Krug, Robert, 1981-, et al.
(författare)
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Grasp Envelopes for Constraint-based Robot Motion Planning and Control
- 2015
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Ingår i: Robotics: Science and Systems Conference.
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Konferensbidrag (refereegranskat)abstract
- We suggest a grasp represen-tation in form of a set of enveloping spatial constraints. Our representation transforms the grasp synthesisproblem (i. e., the question of where to position the graspingdevice) from finding a suitable discrete manipulator wrist pose to finding a suitable pose manifold. Also the correspondingmotion planning and execution problem is relaxed – insteadof transitioning the wrist to a discrete pose, it is enough tomove it anywhere within the grasp envelope which allows toexploit kinematic redundancy.
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| 10. |
- Krug, Robert, 1981-, et al.
(författare)
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Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
- 2017
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729.
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Konferensbidrag (refereegranskat)abstract
- Wrench-based quality metrics play an important role in many applications such as grasp planning or grasp success prediction. In this work, we study the following discrepancy which is frequently overlooked in practice: the quality metrics are commonly computed under the assumption of sum-magnitude bounded contact forces, but the corresponding grasps are executed by a fully actuated device where the contact forces are limited independently. By means of experiments carried out in simulation and on real hardware, we show that in this setting the values of these metrics are severely underestimated. This can lead to erroneous conclusions regarding the actual capabilities of the grasps under consideration. Our findings highlight the importance of matching the physical properties of the task and the grasping device with the chosen quality metrics.
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