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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)

Abstract

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.

Keywords

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.

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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

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