An Augmented Reality System for Teaching Sequential Tasks to a Household Robot
Richard Fung, Sunao Hashimoto, Masahiko Inami, Takeo Igarashi
Abstract
We present a method of instructing a sequential task to a household robot using a hand-held augmented reality device. The user decomposes a high-level goal such as "prepare a drink" into steps such as delivering a mug under a kettle and pouring hot water into the mug. The user takes a photograph of each step using the device and annotates it with necessary information via touch operation. The resulting sequence of annotated photographs serves as a reference for review and reuse at a later time. We created a working prototype system with various types of robots and appliances.
Publication
Richard Fung, Sunao Hashimoto, Masahiko Inami, Takeo Igarashi,
"An Augmented Reality System for Teaching Sequential Tasks to a Household Robot",
20th IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man 2011) , July 31 - August 3, Atlanta GA.
