用虚拟模型控制让机器人更灵活应对交接中物体姿态变化。
A Virtual Mechanical Interaction Layer Enables Resilient Human-to-Robot Object Handovers
- 引入虚拟机械交互层，实时调整机器人动作适应物体姿态变化。
- 实验显示该方法在多种不确定性下仍保持稳定表现。
- 结合AR提升人机双向沟通，用户偏好度高，适合协作场景。
物品交接是人机协作中的常见互动形式，但高效实现仍具挑战。本文针对人类向机器人交接物品时物体姿态复杂变化的问题，提出使用虚拟模型控制构建交互层，使机器人能动态适应交接过程中的变化。同时，利用增强现实技术促进人机在交接过程中的双向沟通。通过一系列实验评估控制器性能，验证其对各类不确定性（包括物体姿态复杂变化）的鲁棒性。最后，开展包含16名参与者的用户研究，考察人类对不同机器人控制策略及AR视觉呈现的偏好。结果表明，参与者普遍倾向本方案，并揭示了优化人机交互的关键洞察，为后续个性化交互设计提供指导。
原文摘要 · Abstract (English)
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex changes in object pose during human-to-robot object handovers. We propose the use of Virtual Model Control to create an interaction layer that controls the robot and adapts to the dynamic changes in the handover process. Additionally, we propose the use of augmented reality to facilitate bidirectional communication between humans and robots during handovers. We assess the performance of our controller in a set of experiments that demonstrate its resilience to various sources of uncertainties, including complex changes to the object's pose during the handover. Finally, we performed a user study with 16 participants to understand human preferences for different robot control profiles and augmented reality visuals in object handovers. Our results showed a general preference for the proposed approach and revealed insights that can guide further development in adapting the interaction with the user.
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