Sharing Spaces with Robots An Integrated Environment for Human-Robot Interaction

In this paper we offer an intelligent integrated environment for human-robot interaction. This environment takes advantage of the fact that robots are both digital and physical entities, thus improving human-robot interaction and communication. Using mixed reality, our approach brings digital information directly into the physical environment, allowing users to interact with robots’ ideas and thoughts directly within the shared physical interaction space. We also present a taxonomy which we use to organise and classify the various interaction techniques that this environment offers. Using this taxonomy, we demonstrate by detailing three interaction techniques, thought crumbs, decorations and bubblegrams. To evaluate these techniques, we offer the design of a realisable prototype.

[1]  Hiroshi Ishii,et al.  PHOXEL-SPACE: an interface for exploring volumetric data with physical voxels , 2004, DIS '04.

[2]  Shumin Zhai,et al.  Applications of augmented reality for human-robot communication , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[3]  W. Eric L. Grimson,et al.  Utilizing Segmented MRI Data in Image-Guided Surgery , 1997, Int. J. Pattern Recognit. Artif. Intell..

[4]  John Pretlove.  Augmenting reality for telerobotics: unifying real and virtual worlds , 1998 .

[5]  Robert C. Nickerson,et al.  A Taxonomy of Collaborative Applications , 1997 .

[6]  Pamela J. Hinds,et al.  Introduction to This Special Issue on Human-Robot Interaction , 2004, Hum. Comput. Interact..

[7]  Rüdiger Dillmann,et al.  Using augmented reality to interact with an autonomous mobile platform , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[8]  P. Milgram,et al.  A Taxonomy of Mixed Reality Visual Displays , 1994 .

[9]  Hans P. Moravec.  Robot: Mere Machine to Transcendent Mind , 1998 .

[10]  Shin Sato,et al.  A human-robot interface using an interactive hand pointer that projects a mark in the real work space , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[11]  Greg Welch,et al.  Spatially augmented reality , 1999 .

[12]  Michael Jenkin,et al.  A Taxonomy of Multirobot Systems , 2003 .

[13]  Ivan Poupyrev,et al.  The MagicBook - Moving Seamlessly between Reality and Virtuality , 2001, IEEE Computer Graphics and Applications.

[14]  Y Wang,et al.  Bringing Clay and Sand into Digital Design — Continuous Tangible user Interfaces , 2004 .

[15]  Ehud Sharlin,et al.  On tangible user interfaces, humans and spatiality , 2004, Personal and Ubiquitous Computing.

[16]  Emmanuel Dubois,et al.  Notational Support for the Design of Augmented Reality Systems , 2002, DSV-IS.

[17]  Paul A. Viola,et al.  Rapid object detection using a boosted cascade of simple features , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[18]  Holly A. Yanco,et al.  Classifying human-robot interaction: an updated taxonomy , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).