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--- htc_vive-hri_-_keitaro_nishimura [2017/05/03 22:53] – keitaronishimura
+++ htc_vive-hri_-_keitaro_nishimura [2017/05/13 15:33] (current) – keitaronishimura
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 **Author:** Keitaro Nishimura Email: [email protected]
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-**Date:** Last modified on 05/03/17
+**Date:** Last modified on 05/13/17
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 **Keywords:** HTC Vive, HRI, Relevant Papers
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 Papers as of 05/03/17 (pw is std)
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-{{:hri-papers-05-03-17.zip|HRI papers}}
+{{:hri-papers-05-03-17.zip|HRI papers 1-2}}
+\\
+{{:intuitive_bimanual_telemanipulaion_under_communication_restricions_by_immersive_3d_visualization_and_motion_tracking.zip|HRI Paper 3}}
 ===== Annotated References =====
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 Three things I learned from this paper were: (1) The usefulness of a mixed reality HRI (2) Where using an immersive HRI benefits the HO; and (3) Where it fails to benefit the HO.
+. [[http://ieeexplore.ieee.org/document/7363547/|Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking]]
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+Publisher: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
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+Keywords: HRI, DRC Finals, Bimanual Telemanipulation, 3D environmental awareness
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+APA citation
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+Rodehutskors, T., Schwarz, M., & Behnke, S. (2015). Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). doi:10.1109/humanoids.2015.7363547
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+This paper describes the implementation of commercially available Virtual reality hardware to give the HO environmental awareness during telemanipulation.
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+The authors present the results from the DRC finals and their own home made task to prove and verity the use of their implementation.
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+From this presentation, the paper concludes that their usage of 3D immersive telemanipulation was successful and that it significantly enhanced the HO’s perception of the robots environment.
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+From the state-of-the-art, the paper identifies challenges in automation for complex and unforeseen tasks.
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+The paper addresses these challenges by using a human-robot system that gives a HO control of the robot for tasks that require nimble manipulation skills.
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+The results of this approach are the successful execution of the DRC finals task and their own bimanual task.
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+The paper presents the following theoretical principles: (1) That an immersive HRI provides the HO with more situational awareness of the robots environment; and (2) The usage of intuitive bimanual controls allows for accurate manipulation of both end defectors at the same time.
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+The principles are explained well.
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+For example Tables 1&2 show the various execution times for the DRC finals tasks and their own bimanual task.
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+From the principles and results, the paper concludes: That the usage of an HMD significantly enhanced the environmental awareness of the HO; (2) the usage of bimanual controls allowed the HO to execute complex bimanual tasks quickly and accurately.
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+Keitaro Nishimura likes this paper because: (1) it showed the real world usage of an HRI and bimanual controls in a simulated disaster relief situation; (2) It proved the feasability of implementing such controls in a communication desegregated environment; and (3) it gave detailed depictions of the problems that the HO faced when using the system that could lead to future improvements to the system.
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+I disliked this paper because it didn’t compare the effectiveness of their implementation of an immersive bimanual HRI with a more traditional HRI system to see if there were any measurable improvements over it.
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+Three things I learned form this paper were: (1) the state-of-the-art of humanoid robotics telemanipulation; (2) The limitations of humanoid robotics automation; (3) How to deal with communication degradation when a large amount of data needs to be transferred in real time.