Abstract
This paper presents an advanced human-robot interaction (HRI) interface that allows teaching new assembly tasks to collaborative robots. The interface provides the proper tools for a non-expert user to teach a robot a new assembly task in a short amount of time through advanced perception and simulation technologies. The assembly is demonstrated by the user through an RGBD camera and the system extracts the needed information for the assembly to be simulated and performed by the robot, while the user guides the process. The HRI interface is integrated with the ROS framework and is built as a web application that can be operated through a PC tablet. We evaluate the interface with user experience rating from test subjects that are requested to teach an assembly to the robot.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wilcox, R., Nikolaidis, S., Shah, J.: Optimization of temporal dynamics for adaptive human-robot interaction in assembly manufacturing. Robot. Sci. Syst. VIII, 441–448 (2012)
Argall, B.D., et al.: A survey of robot learning from demonstration. Robot. Auton. Syst. 57(5), 469–483 (2009)
Osentoski, S., et al.: Remote robotic laboratories for learning from demonstration. Int. J. Soc. Robot. 4(4), 449–461 (2012)
Calinon, S., Billard, A.: Incremental learning of gestures by imitation in a humanoid robot. In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction. ACM (2007)
Sheridan, T.B.: Human–robot interaction status and challenges. Hum. Factors: J. Hum. Factors Ergon. Soc. 58(4), 525–532 (2016)
Gombolay, M.C., Huang, C., Shah, J.A.: Coordination of human-robot teaming with human task preferences. In: AAAI Fall Symposium Series on AI-HRI, vol. 11 (2015)
Rautaray, S.S., Agrawal, A.: Vision based hand gesture recognition for human computer interaction: a survey. Artif. Intell. Rev. 43(1), 1–54 (2015)
Schou, C., et al.: Human-robot interface for instructing industrial tasks using kinesthetic teaching. In: 44th International Symposium on Robotics (ISR). IEEE (2013)
Vasic, M., Billard, A.: Safety issues in human-robot interactions. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE (2013)
http://www.ros.org/. Accessed 10 Apr 2017
Qian, K., Niu, J., Yang, H.: Developing a gesture based remote human-robot interaction system using kinect. Int. J. Smart Home 7(4), 203–208 (2013)
Ratner, E., et al.: A web-based infrastructure for recording user demonstrations of mobile manipulation tasks. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE (2015)
http://gazebosim.org/. Accessed 10 Apr 2017
Di Nuovo, A., et al.: A web based multi-modal interface for elderly users of the robot-era multi-robot services. In: IEEE International Conference on Systems, Man and Cybernetics (SMC). IEEE (2014)
Toris, R., Kent, D., Chernova, S.: The robot management system: a framework for conducting human-robot interaction studies through crowdsourcing. J. Hum.-Robot Int. 3(2), 25–49 (2014)
Osentoski, S., et al.: Robots as web services: reproducible experimentation and application development using rosjs. In: 2011 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2011)
http://gazebosim.org/gzweb. Accessed 10 Apr 2017
Doumanoglou, A., Kouskouridas, R., Malassiotis, S., Kim, T.K.: Recovering 6D object pose and predicting next-best-view in the crowd. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, CVPR (2016)
Oikonomidis, I., Kyriazis, N., and Argyros, A.A.: Efficient model-based 3D tracking of hand articulations using Kinect. In: BMVC, vol. 1, no. 2, p. 3 (2011)
Piperagkas, G.S., Mariolis, I., Ioannidis, D., Tzovaras, D.: Keyframe extraction with semantic graphs in assembly processes. IEEE Robot. Autom. Lett. PP(99), 1–1 (2017). doi:10.1109/LRA.2017.2662064
Acknowledgment
The research leading to these results has received funding from the European Community’s Framework Programme Horizon 2020 – under grant agreement No 644938 – SARAFun.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Papadopoulos, C., Mariolis, I., Topalidou-Kyniazopoulou, A., Piperagkas, G., Ioannidis, D., Tzovaras, D. (2017). An Advanced Human-Robot Interaction Interface for Teaching Collaborative Robots New Assembly Tasks. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-66471-2_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-66470-5
Online ISBN: 978-3-319-66471-2
eBook Packages: Computer ScienceComputer Science (R0)