@inproceedings{Chacon:2022:10.1109/IROS47612.2022.9981989,
author = {Chacon, Quesada R and Demiris, Y},
doi = {10.1109/IROS47612.2022.9981989},
pages = {856--862},
publisher = {IEEE},
title = {Holo-SpoK: Affordance-aware augmented reality control of legged manipulators},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981989},
year = {2022}
}

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TY  - CPAPER
AB  - Although there is extensive research regarding legged manipulators, comparatively little focuses on their User Interfaces (UIs). Towards extending the state-of-art in this domain, in this work, we integrate a Boston Dynamics(BD) Spot® with a light-weight 7 DoF Kinova® robot arm and a Robotiq® 2F-85 gripper into a legged manipulator. Furthermore, we jointly control the robotic platform using an affordance-aware Augmented Reality (AR) Head-Mounted Display (HMD) UI developed for the Microsoft HoloLens 2. We named the combined platform Holo-SpoK. Moreover, we explain how this manipulator colocalises with the HoloLens 2 for its control through AR. In addition, we present the details of our algorithms for autonomously detecting grasp-ability affordances and for the refinement of the positions obtainedvia vision-based colocalisation. We validate the suitability of our proposed methods with multiple navigation and manipulation experiments. To the best of our knowledge, this is the first demonstration of an AR HMD UI for controlling legged manipulators.
AU  - Chacon,Quesada R
AU  - Demiris,Y
DO  - 10.1109/IROS47612.2022.9981989
EP  - 862
PB  - IEEE
PY  - 2022///
SP  - 856
TI  - Holo-SpoK: Affordance-aware augmented reality control of legged manipulators
UR  - http://dx.doi.org/10.1109/IROS47612.2022.9981989
UR  - https://ieeexplore.ieee.org/document/9981989
UR  - http://hdl.handle.net/10044/1/100481
ER  - 

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