An Augmented Reality Human-Robot Collaboration System

Abstract

Interface design for Human-Robot Interaction (HRI) will soon become one of the toughest challenges that the field of robotics faces (Thrun 2004). As HRI interfaces mature it will become more common for humans and robots to work together in a collaborative manner. Although robotics is well established as a research field, there has been relatively little work on human-robot collaboration. There are many application domains that would benefit from effective human-robot collaborative interaction. For example, in space exploration, recent research has pointed out that to reduce human workload, costs, fatigue driven errors and risks, intelligent robotic systems will need to be a significant part of mission design (Fong and Nourbakhsh 2005). Fong and Nourbakhsh also observe that scant attention has been paid to joint human-robot teams, and that making human-robot collaboration natural and efficient is crucial to future space exploration. Effective human–robot collaboration will also be required for terrestrial applications such as Urban Search and Rescue (US&R) and tasks completed robotically in hazardous environments, such as removal of nuclear waste. There is a need for research on different types of HRI systems. This chapter reports on the development of the Augmented Reality Human-Robot Collaboration (AR-HRC) system (Green, Billinghurst et al. 2008). Fundamentally, this system enables humans to communicate with robotic systems in a natural manner through spoken dialog and gesture interaction, using Augmented Reality technology for visual feedback. This approach is in contrast to the typical reliance on a narrow communication link. Truly effective collaboration among any group can take place only when the participants are able to communicate in a natural and effective manner. Communicating in a natural manner for humans typically means using a combination of speech, gesture and non-verbal cues such as gaze. Grounding, the common understanding between conversational participants (Clark and Brennan 1991), shared spatial referencing and spatial awareness are well-known crucial components of communication and therefore collaboration.