让外行也能轻松编程机器人打磨表面，靠的是交互式混合现实界面。
Interactive Robot Programming for Surface Finishing via Task-Centric Mixed Reality Interfaces
- 通过融合人机交互的表面分割算法，自动识别待处理区域。
- 用户可实时看到机器人学习进展并不断优化分割结果。
- 适合无经验用户在小批量生产中快速上手机器人打磨任务。
高产品变异性与小批量生产场景下，传统机器人部署需复杂设置，依赖专业技能，导致协作机器人在手工及小规模制造中的表面处理应用极少。为解决此问题，本文提出一种新型机器人编程方法，使非专业人士可通过面向任务的交互式工作流直观编程。为此，开发了一种结合人工输入的表面分割算法，用于精准识别并优化待加工区域。编程过程中，用户可实时获得机器人学习模型的视觉反馈，实现迭代优化。基于分割结果生成覆盖目标区域的机器人运动轨迹。通过两次全面的用户研究，评估多种交互设计，最终确定最优界面，显著降低用户负担、提升易用性，并支持缺乏实践经验者有效完成任务编程。
原文摘要 · Abstract (English)
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and control capabilities, are rarely used for surface finishing in small-scale craft and manufacturing settings. To address this gap, we propose a novel robot programming approach that enables non-experts to intuitively program robots through interactive, task-focused workflows. For that, we developed a new surface segmentation algorithm that incorporates human input to identify and refine workpiece regions for processing. Throughout the programming process, users receive continuous visual feedback on the robot's learned model, enabling them to iteratively refine the segmentation result. Based on the segmented surface model, a robot trajectory is generated to cover the desired processing area. We evaluated multiple interaction designs across two comprehensive user studies to derive an optimal interface that significantly reduces user workload, improves usability and enables effective task programming even for users with limited practical experience.
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