Robot autonomy has imprecision both in perception and action. Human assistance can correct this inaccuracy by teaching a robot to make corrective adjustments. The Microsoft HoloLens 2 is an Augmented Reality headset that allows users to view and manipulate holograms in three dimensions, which is well suited for intuitive Human Robot Interaction. However, its tracking capabilities are poorly tailored for fine robot control. Our team proposes a human robot collaborative workspace, as well as a collection of AR Human Robot Interfaces designed to facilitate human assisted robotic manipulation. In addition, we designed a compound manipulation and perception task showcasing our proposed platform to assist robot autonomy and propose a user study to evaluate its efficacy.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Giroux, Tyler
• Saliba, Dimitri
• Sun, Alexander
• Kyi, Justin
• Tom, Bryon

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042424-174351
• 121569

Keyword

• Human Robot Interaction
• Mixed Reality
• ROS
• HoloLens
• Auugmented Reality

Advisor

• Mus, Koksal
• Li, Jane

Year

• 2024

Date created

• 2024-04-24

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering
• Computer Science

Source

• E-project-042424-174351

Rights statement

• In Copyright