论文标题
在共享增强现实工作空间中的人类机器人互动
Human-Robot Interaction in a Shared Augmented Reality Workspace
论文作者
论文摘要
我们设计并开发了人类互动（HRI）的新的共享增强现实（AR）工作区，该工作区建立了人类代理商和机器人之间的双向交流。在原型系统中，共享的AR工作空间可实现共享的感知，因此物理机器人不仅会感知自己观点中的虚拟元素，而且还渗透了人类代理人的实用性 - 在AR中感知和相互作用所需的成本 - 感知人类的代理人的凝视和姿势。这种新的HRI设计还提供了共同的操作，其中物理机器人可以控制和改变AR中的虚拟对象作为活性代理。至关重要的是，机器人可以主动与人类代理人进行互动，而不是纯粹是被动执行收到的命令。在实验中，我们设计了一个资源收集游戏，该游戏定性地展示了机器人在AR中的感知，过程和操纵的方式，并使用共享的AR工作空间对HRI的疗效进行了定量评估。我们进一步讨论该系统如何有可能使未来的HRI研究受益于原本具有挑战性的研究。
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables a shared perception, so that a physical robot not only perceives the virtual elements in its own view but also infers the utility of the human agent--the cost needed to perceive and interact in AR--by sensing the human agent's gaze and pose. Such a new HRI design also affords a shared manipulation, wherein the physical robot can control and alter virtual objects in AR as an active agent; crucially, a robot can proactively interact with human agents, instead of purely passively executing received commands. In experiments, we design a resource collection game that qualitatively demonstrates how a robot perceives, processes, and manipulates in AR and quantitatively evaluates the efficacy of HRI using the shared AR workspace. We further discuss how the system can potentially benefit future HRI studies that are otherwise challenging.
