Multi robots interactive control using mixed reality

被引：22

作者：

Ostanin, M. ^{[1
]}

Yagfarov, R. ^{[1
]}

Devitt, D. ^{[1
]}

Akhmetzyanov, A. ^{[1
]}

Klimchik, A. ^{[1
]}

机构：

[1] Innopolis Univ, Ctr Technol Robot & Mechatron Components, 1 Univ Skaya Str, Innopolis 420500, Russia

来源：

INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH | 2021年 / 59卷 / 23期

关键词：

Human– robot interaction; mixed reality; augmented reality; robotics; multi-robot systems; interactive systems;

D O I：

10.1080/00207543.2020.1834640

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper presents a framework for interactive control of multi robots using mixed reality interfaces. The proposed approach can operate with both single and multi-robot systems, including interaction with industrial manipulators, mobile robots, and unmanned aerial vehicles (UAV). The human-robot interface allows both interactive and physical interaction with the robot. Particular attention is paid to a visualisation of the robots' intent during control. The presented framework has Robotic Operation System (ROS) as a core that can be connected to any robot and mixed reality interface. This allows us to make framework scalable and connect several different mixed reality devices and multiple heterogeneous robots. In the implementation part we connected our framework with Microsoft HoloLens, collaborative robot KUKA IIWA, mobile platform Plato, UAV designed on the basis of dji f450. The proposed framework was tested experimentally with real experimental setups mentioned above. The results showed the capabilities of the mixed reality system for interactive control of different robots' type.

引用

页码：7126 / 7138

页数：13

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