Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Elsdon:2018:10.1109/ICRA.2018.8461179,
author = {Elsdon, J and Demiris, Y},
doi = {10.1109/ICRA.2018.8461179},
pages = {1939--1946},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {Augmented reality for feedback in a shared control spraying task},
url = {http://dx.doi.org/10.1109/ICRA.2018.8461179},
year = {2018}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Using industrial robots to spray structures has been investigated extensively, however interesting challenges emerge when using handheld spraying robots. In previous work we have demonstrated the use of shared control of a handheld spraying robot to assist a user in a 3D spraying task. In this paper we demonstrate the use of Augmented Reality Interfaces to increase the user's progress and task awareness. We describe our solutions to challenging calibration issues between the Microsoft Hololens system and a motion capture system without the need for well defined markers or careful alignment on the part of the user. Error relative to the motion capture system was shown to be 10mm after only a 4 second calibration routine. Secondly we outline a logical approach for visualising liquid density for an augmented reality spraying task, this system allows the user to see target regions to complete, areas that are complete and areas that have been overdosed clearly. Finally we produced a user study to investigate the level of assistance that a handheld robot utilising shared control methods should provide during a spraying task. Using a handheld spraying robot with a moving spray head did not aid the user much over simply actuating spray nozzle for them. Compared to manual control the automatic modes significantly reduced the task load experienced by the user and significantly increased the quality of the result of the spraying task, reducing the error by 33-45%.
AU - Elsdon,J
AU - Demiris,Y
DO - 10.1109/ICRA.2018.8461179
EP - 1946
PB - Institute of Electrical and Electronics Engineers (IEEE)
PY - 2018///
SN - 1050-4729
SP - 1939
TI - Augmented reality for feedback in a shared control spraying task
UR - http://dx.doi.org/10.1109/ICRA.2018.8461179
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000446394501075&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - http://hdl.handle.net/10044/1/67151
ER -