用轻量化可视化提升远程操控机器人在虚拟现实中的路径规划效率
ReachVox: Clutter-free Reachability Visualization for Robot Motion Planning in Virtual Reality
- 提出名为ReachVox的极简可达性可视化方法
- 用户实验显示其显著优于传统点式可达性检查
- 适合远程协作与动态环境下的机器人操作人员
人机协作可通过发挥人类操作员与机器人的互补优势来提升工作流程。在需要频繁调整机器人运动路径的动态环境中，规划与理解机器人动作仍是主要挑战。本文研究了一种针对目标物体附近某点的极简可达性编码方法——ReachVox，能否帮助远程操作员与机械臂在虚拟现实中的协作。通过20名用户的实验研究，结果表明该可视化方式相较于传统的点式可达性检查具有明显优势。
原文摘要 · Abstract (English)
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic environments that might need constant robot motion path adaptation. In this paper, we investigate whether a minimalistic encoding of the reachability of a point near an object of interest, which we call ReachVox, can aid the collaboration between a remote operator and a robotic arm in VR. Through a user study (n=20), we indicate the strength of the visualization relative to a point-based reachability check-up.
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