Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality
Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality
复制标题
用于有形交互和虚拟现实的触觉代理对象的机器人组装
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Sean Follmer
中科院分区：
文献类型：
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作者：
Yiwei Zhao;Lawrence H. Kim;Ye Wang;Mathieu Le Goc;Sean Follmer
被动触觉代理对象允许丰富的有形交互，在VR应用中尤其如此。然而，这需要用户手头有许多物理对象。本文提出了在低分辨率触觉代理的运行时进行机器人装配，以实现有形交互和虚拟现实。这些组装的物理代理对象由磁性连接的块组成，这些块由一个小型多机器人系统组装而成，特别是动物园。我们探讨了基本积木的设计，并说明了组装物理代理的两种方法：使用多机器人系统(1)自组装成结构和(2)用不同高度的被动积木组装2.5D结构。对两种方法的成功率和完成时间进行了评估。最后，我们通过一组演示演示了组装的代理对象在有形交互和虚拟现实中的潜力。
Passive haptic proxy objects allow for rich tangible interaction, and this is especially true in VR applications. However, this requires users to have many physical objects at hand. Our paper proposes robotic assembly at run-time of low-resolution haptic proxies for tangible interaction and virtual reality. These assembled physical proxy objects are composed of magnetically attached blocks which are assembled by a small multi robot system, specifically Zooids. We explore the design of the basic building blocks and illustrate two approaches to assembling physical proxies: using multirobot systems to (1) self-assemble into structures and (2) assemble 2.5D structure with passive blocks of various heights. The success rate and completion time are evaluated for both approaches. Finally, we demonstrate the potential of assembled proxy objects for tangible interaction and virtual reality through a set of demonstrations.