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Title: A Collaborative Building Task in VR vs. Reality
Human-robot interaction is a critical area of research, providing support for collaborative tasks where a human instructs a robot to interact with and manipulate objects in an environment. However, an under-explored element of these collaborative manipulation tasks are small-scale building exercises, in which the human and robot are working together in close proximity with the same set of objects. Under these conditions, it is essential to ensure the human’s safety and mitigate comfort risks during the interaction. As there is danger in exposing humans to untested robots, a safe and controlled environment is required. Simulation and virtual reality (VR) for HRI have shown themselves to be suitable tools for creating space for human-robot experimentation that can be beneficial in these scenarios. However, the use of simulation and VR comes with the possibility of failures resulting from the sim-to-real gap, where the behavior of the simulated robot may not accurately reflect the experience of a human collaborator in a real-world setting. This gap can limit the generalizability of research findings and raise questions about the validity of using simulation and VR for HRI research. Our goal in this work is to demonstrate the effectiveness of sim-to-real approaches for contact-based human-robot interaction.  more » « less
Award ID(s):
2145642 2024878
PAR ID:
10511939
Author(s) / Creator(s):
; ; ; ;
Publisher / Repository:
Springer
Date Published:
Journal Name:
Proceedings of the International Symposium on Experimental Robotics
Format(s):
Medium: X
Location:
Chiang Mai, Thailand
Sponsoring Org:
National Science Foundation
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