An Advanced Human-Robot Interaction Interface for Collaborative Robotic Assembly Tasks

Thisarticleintroducesanadvancedhuman-robotinteraction(HRI)interfacethatallowsteaching newassembly tasks to collaborative robotic systems.Usingadvancedperceptionand simulation technologies,theinterfaceprovidesthepropertoolsforanon-expertusertoteacharobotanew assemblytaskinashortamountoftime.AnRGBDcameraisusedtoallowtheusertodemonstratethe taskandthesystemextractstheneededinformationfortheassemblytobesimulatedandperformedby therobot,whiletheuserguidestheprocess.TheHRIinterfaceisintegratedwiththeROSframework andisbuiltasawebapplicationallowingoperationthroughportabledevices,suchasatabletPC. Theinterfaceisevaluatedwithuserexperienceratingfromtestsubjectsthatarerequestedtoteach afoldingassemblytasktotherobot. KEywoRdS HRI Web Interface, Human Robot Interaction, Robot Simulation, Teaching Robotic Assembly

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