Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation
With the increasing demand for human–robot collaboration (HRC), intuitive interfaces are essential to connect humans and robots. A promising approach is the use of mixed reality (MR) to enhance spatial understanding through virtual and augmented reality. In this paper, we propose a novel...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10285324/ |
| _version_ | 1797655642560790528 |
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| author | Koki Nakamura Kosuke Sekiyama |
| author_facet | Koki Nakamura Kosuke Sekiyama |
| author_sort | Koki Nakamura |
| collection | DOAJ |
| description | With the increasing demand for human–robot collaboration (HRC), intuitive interfaces are essential to connect humans and robots. A promising approach is the use of mixed reality (MR) to enhance spatial understanding through virtual and augmented reality. In this paper, we propose a novel HRC system that extracts human handling procedures and generates concrete motion plans for the robot. The user, wearing an MR device, interacts with virtual objects in the MR space using natural hand motions. These motions and resulting state transitions are abstracted into a symbolic semi-order motion planner represented by the reachability graph (RG). Using the RG, an autonomous behavior tree is generated, considering the robot’s task environment, and the concrete motion plan is executed by the robot. This system allows the robot to take a more flexible approach to user instructions than conventional MR-HRC systems. Moreover, this system translates human orders into plans that are independent of a specific robot, demonstrating considerable development potential. |
| first_indexed | 2024-03-11T17:17:26Z |
| format | Article |
| id | doaj.art-5c7a0bc142924805a2e29c1ce968ba0a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T17:17:26Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5c7a0bc142924805a2e29c1ce968ba0a2023-10-19T23:00:53ZengIEEEIEEE Access2169-35362023-01-011111275311276310.1109/ACCESS.2023.332293310285324Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality OperationKoki Nakamura0https://orcid.org/0009-0001-6416-8879Kosuke Sekiyama1https://orcid.org/0009-0001-7288-8008Department of Mechatronics Engineering, Graduate School of Science and Technology, Meijo University, Nagoya, JapanDepartment of Mechatronics Engineering, Graduate School of Science and Technology, Meijo University, Nagoya, JapanWith the increasing demand for human–robot collaboration (HRC), intuitive interfaces are essential to connect humans and robots. A promising approach is the use of mixed reality (MR) to enhance spatial understanding through virtual and augmented reality. In this paper, we propose a novel HRC system that extracts human handling procedures and generates concrete motion plans for the robot. The user, wearing an MR device, interacts with virtual objects in the MR space using natural hand motions. These motions and resulting state transitions are abstracted into a symbolic semi-order motion planner represented by the reachability graph (RG). Using the RG, an autonomous behavior tree is generated, considering the robot’s task environment, and the concrete motion plan is executed by the robot. This system allows the robot to take a more flexible approach to user instructions than conventional MR-HRC systems. Moreover, this system translates human orders into plans that are independent of a specific robot, demonstrating considerable development potential.https://ieeexplore.ieee.org/document/10285324/Human–robot interactionmixed realitycyber–physical systemsmotion planningvirtual reality |
| spellingShingle | Koki Nakamura Kosuke Sekiyama Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation IEEE Access Human–robot interaction mixed reality cyber–physical systems motion planning virtual reality |
| title | Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation |
| title_full | Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation |
| title_fullStr | Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation |
| title_full_unstemmed | Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation |
| title_short | Robot Symbolic Motion Planning and Task Execution Based on Mixed Reality Operation |
| title_sort | robot symbolic motion planning and task execution based on mixed reality operation |
| topic | Human–robot interaction mixed reality cyber–physical systems motion planning virtual reality |
| url | https://ieeexplore.ieee.org/document/10285324/ |
| work_keys_str_mv | AT kokinakamura robotsymbolicmotionplanningandtaskexecutionbasedonmixedrealityoperation AT kosukesekiyama robotsymbolicmotionplanningandtaskexecutionbasedonmixedrealityoperation |