Mixed reality robotic user interface: virtual kinematics to enhance robot motion

ABSTRACT

A Robotic User Interface (RUI) is part of a concept in which a robot is used as an interface for human behavior. By combining the RUI with Mixed Reality (MR) technology, we propose a MR RUI system that enables the presentation of enhanced visual information of a robot existing in the real world. In this paper, we propose the virtual kinematics to enhance robot motion. A MR RUI system with virtual kinematics can present a selection of visual information by controlling the robot through physical simulation and by changing the parameter dynamically.

REFERENCES

• 1: Masahiro Fujita , Hiroaki Kitano, Development of an Autonomous Quadruped Robot for Robot Entertainment, Autonomous Robots, v.5 n.1, p.7-18, March 1998 [doi>10.1023/A:1008856824126]
• 2: Andrew G. Brooks , Jesse Gray , Guy Hoffman, Robot's play: interactive games with sociable machines, Proceedings of the 2004 ACM SIGCHI International Conference on Advances in computer entertainment technology, p.74-83, June 03-05, 2005, Singapore [doi>10.1145/1067343.1067352]
• 3: RoboCup. http://www.robocup.org/
• 4: ROBO-ONE. http://www.robo-one.com/ or http://www.robo-one.or.kr/english/
• 5: Dairoku Sekiguchi , Masahiko Inami , Susumu Tachi, RobotPHONE: RUI for interpersonal communication, CHI '01 extended abstracts on Human factors in computing systems, March 31-April 05, 2001, Seattle, Washington [doi>10.1145/634067.634231]
• 6: Noriyoshi Shimizu , Naoya Koizumi , Maki Sugimoto , Hideaki Nii , Dairoku Sekiguchi , Masahiko Inami, A teddy-bear-based robotic user interface, Computers in Entertainment (CIE), v.4 n.3, July 2006 [doi>10.1145/1146816.1146830]
• 7: Nakamura, T., Shimizu, N., Koizumi, N., Sugimoto, M., Nii, H., Sekiguchi, D., Inami, M., RUI for Home Appliances, Proceedings CD-ROM of Symposium on Virtual and Augmented Reality 2007, May. 2007.
• 8: Milgram, P, and Kishino, F., A Taxonomy of Mixed Reality Visual Displays, IEICE Trans, on Information Systems, Vol. E77--D, No. 12, pp. 1321--1329, 1994.
• 9: Steven Feiner , Blair Macintyre , Dorée Seligmann, Knowledge-based augmented reality, Communications of the ACM, v.36 n.7, p.53-62, July 1993 [doi>10.1145/159544.159587]
• 10: Yasuhiro Okuno , Hiroyuki Kakuta , Tomohiko Takayama , Kazuhiro Asai, Jellyfish Party: Blowing Soap Bubbles in Mixed Reality Space, Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality, p.358, October 07-10, 2003
• 11: Rekimoto, J., NaviCam: A Magnifying Glass Approach to Augmented Reality Systems, Presence: Teleoperators and Virtual Environments, Vol. 6, No. 4, pp. 399--412, MIT Press, 1997.
• 12: Kato, H., Billinghurst, M., Poupyrev, I., Imamoto, K., and Tachibana, K., Virtual object manipulation on a table-top AR environment. In Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR) 2000, pages 111--118, 2000.
• 13: Maki Sugimoto , Georges Kagotani , Minoru Kojima , Hideaki Nii , Akihiro Nakamura , Masahiko Inami, Augmented coliseum: display-based computing for augmented reality inspiration computing robot, ACM SIGGRAPH 2005 Emerging technologies, July 31-August 04, 2005, Los Angeles, California [doi>10.1145/1187297.1187299]
• 14: Takafumi Aoki , Takashi Matsushita , Yuichiro Iio , Hironori Mitake , Takashi Toyama , Shoichi Hasegawa , Rikiya Ayukawa , Hiroshi Ichikawa , Makoto Sato , Takatsugu Kuriyama , Kazuyuki Asano , Toshihiro Kawase , Itaru Matumura, Kobito: virtual brownies, ACM SIGGRAPH 2005 Emerging technologies, July 31-August 04, 2005, Los Angeles, California [doi>10.1145/1187297.1187309]
• 15: Tachi S., Augmented Telexistence, Mixed Reality (Y. Ohta, H. Tamura ed.), Cahpter 14, pp. 251--260, Ohmsha, 1999.
• 16: Michihiko Shoji , Kanako Miura , Atsushi Konno, U-Tsu-Shi-O-Mi: the virtual humanoid you can reach, ACM SIGGRAPH 2006 Emerging technologies, July 30-August 03, 2006, Boston, Massachusetts [doi>10.1145/1179133.1179168]
• 17: Hasegawa S. and Sato, M., Real-time rigid body simulation for haptic interactions based on contact volume of polygonal objects. Proc. of EUROGRAPHICS Computer Graphics Forum, 2004.

INDEX TERMS

Primary Classification:
  H. Information Systems
  H.5 INFORMATION INTERFACES AND PRESENTATION (I.7)
      H.5.1 Multimedia Information Systems
          Subjects: Artificial, augmented, and virtual realities

General Terms:
Design, Experimentation, Human Factors

Keywords:
entertainment, mixed reality, physical avatar, robotic user interface, virtual kinematics, visual display