论文标题
混合现实是人类机器人合作的交流媒介
Mixed Reality as Communication Medium for Human-Robot Collaboration
论文作者
论文摘要
从事协作活动的人类自然能够通过多模式沟通将自己的意图传达给队友，这是由明确和隐性的提示组成的。同样，可以通过使机器人能够通过多个沟通渠道将其意图传达给人类队友，从而实现更自然的人类机器人协作形式。在本文中，我们假设如果协作机器人能够以直观的方式将他们的动作预期到人类队友，则可以进行更好的沟通。为了支持这样的主张，我们提出了一个机器人系统的架构，通过该架构，机器人可以通过该架构将计划的动作传达给人类队友，以利用由现代头部安装的显示器提供支持的混合现实接口。具体来说，在人类队友的角度叠加到真正的机器人的机器人全息图显示了机器人的未来运动，使人类可以事先理解它们，并可能以适当的方式对它们做出反应。我们进行了初步的用户研究，以评估复杂的协作任务中提出的预期可视化的有效性。实验结果表明，通过采用这种预期的沟通模式可以改善和自然的协作。
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot collaboration may be achieved by enabling robots to convey their intentions to human teammates via multiple communication channels. In this paper, we postulate that a better communication may take place should collaborative robots be able to anticipate their movements to human teammates in an intuitive way. In order to support such a claim, we propose a robot system's architecture through which robots can communicate planned motions to human teammates leveraging a Mixed Reality interface powered by modern head-mounted displays. Specifically, the robot's hologram, which is superimposed to the real robot in the human teammate's point of view, shows the robot's future movements, allowing the human to understand them in advance, and possibly react to them in an appropriate way. We conduct a preliminary user study to evaluate the effectiveness of the proposed anticipatory visualization during a complex collaborative task. The experimental results suggest that an improved and more natural collaboration can be achieved by employing this anticipatory communication mode.
