Using Compliant Robots as Projective Interfaces in Dynamic Environments

  • Davide De Tommaso
  • Sylvain Calinon
  • Darwin G. Caldwell
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


We present a human-robot interface for projecting information on arbitrary planar surfaces by sharing a visual understanding of the workspace. A compliant 7-DOF arm robot endowed with a pico-projector and a depth sensor has been used for the experiment. The perceptual capabilities allows the system to detect geometry features of the environment which are used for superimposing undistorted projection on planar surfaces. The proposed scenario consists of a first phase in which the user physically interacts with the gravity compensated robot for choosing the place where the projection will appear. After, in the second phase, the robotic arm is able to autonomously superimpose visual information in the selected area and actively adapt to perturbations. We also present a proof-of-concept for managing occlusions and tracking the position of the projection whenever obstacles enter in the projection field.


Augmented Reality Depth Sensor Perspective Transformation Kinect Device Augmented Reality Interface 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Breazeal, C., Kidd, C.D., Thomaz, A.L., Hoffman, G., Berlin, M.: Effects of nonverbal communication on efficiency and robustness in human-robot teamwork. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, pp. 708–713 (2005)Google Scholar
  2. 2.
    Mollet, N., Chellali, R., Brayda, L.: Virtual and Augmented Reality Tools for Teleoperation: Improving Distant Immersion and Perception. In: Pan, Z., Cheok, A.D., Müller, W., Rhalibi, A.E. (eds.) Transactions on Edutainment II. LNCS, vol. 5660, pp. 135–159. Springer, Heidelberg (2009)CrossRefGoogle Scholar
  3. 3.
    Bimber, O., Emmerling, A., Klemmer, T.: Embedded entertainment with smart projectors. IEEE Computer 38(1), 48–55 (2005)CrossRefGoogle Scholar
  4. 4.
    Li, L., Zhang, M., Xu, F., Liu, S.: ERT-VR: an immersive virtual reality system for emergency rescue training. Virtual Reality 8(3), 194–197 (2005)CrossRefGoogle Scholar
  5. 5.
    Brunnett, G., Rusdorf, S., Lorenz, M.: V-pong: an immersive table tennis simulation. IEEE Computer Graphics and Applications 26(4), 10–13 (2006)CrossRefGoogle Scholar
  6. 6.
    Ikeda, S., Asghar, Z., Hyry, J., Pulli, P., Pitkanen, A., Kato, H.: Remote assistance using visual prompts for demented elderly in cooking. In: Proceedings of the 4th International Symposium on Applied Sciences in Biomedical and Communication Technologies, ISABEL 2011, pp. 1–5. ACM, New York (2011)Google Scholar
  7. 7.
    Tardif, J.P., Roy, S., Meunier, J.: Projector-based augmented reality in surgery without calibration. In: Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 1, pp. 548–551 (2003)Google Scholar
  8. 8.
    Vogel, C., Poggendorf, M., Walter, C., Elkmann, N.: Towards safe physical human-robot collaboration: A projection-based safety system. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROSGoogle Scholar
  9. 9.
    Harrison, C., Benko, H., Wilson, A.D.: Omnitouch: wearable multitouch interaction everywhere. In: Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology, UIST, pp. 441–450. ACM, New York (2011)CrossRefGoogle Scholar
  10. 10.
    Rusu, R.B., Cousins, S.: 3D is here: Point cloud library PCL. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 1–4 (May 2011)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Davide De Tommaso
    • 1
  • Sylvain Calinon
    • 1
  • Darwin G. Caldwell
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenovaItaly

Personalised recommendations