Programming manipulation tasks by demonstration in visuo-haptic augmented reality

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 use...

Full description

Saved in:
Bibliographic Details
Published in2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games (HAVE) Proceedings pp. 13 - 18
Main Authors Aleotti, Jacopo, Micconi, Giorgio, Caselli, Stefano
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2014
Subjects
Augmented reality
Cameras
Haptic interfaces
Robots
Solid modeling
Three-dimensional displays
Online AccessGet full text

Cover

More Information
Summary: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.
DOI:10.1109/HAVE.2014.6954324