GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality
Y. Cao, T. Wang, et al., and K. Ramani, "GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality'', Proceedings of the 32nd Annual Symposium on User Interface Software and Technology (UIST 2019)
We present GhostAR, a time-space editor for authoring and acting Human-Robot-Collaborative (HRC) tasks in-situ. Our system adopts an embodied authoring approach in Augmented Reality (AR), for spatially editing the actions and programming the robots through demonstrative role-playing. We propose a novel HRC workflow that externalizes user's authoring as demonstrative and editable AR ghost, allowing for spatially situated visual referencing, realistic animated simulation, and collaborative action guidance. We develop a dynamic time warping (DTW) based collaboration model which takes the real-time captured motion as inputs, maps it to the previously authored human actions, and outputs the corresponding robot actions to achieve adaptive collaboration. We emphasize an in-situ authoring and rapid iterations of joint plans without an offline training process. Further, we demonstrate and evaluate the effectiveness of our workflow through HRC use cases and a three-session user study.