Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation

TL;DR

This paper introduces a bimanual XR interaction method for defining hierarchical assembly constraints in teleoperation, enabling flexible and efficient remote robot assembly through intuitive object grouping and pose specification.

Contribution

It proposes a novel bimanual XR interface for specifying hierarchical relative and absolute assembly constraints, enhancing teleoperation control and flexibility.

Findings

Enables intuitive creation of assembly hierarchies in XR

Supports nested relative and absolute object constraints

Improves efficiency of remote robot assembly tasks

Abstract

We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a constraint group (visualized as a hull) and groups can be nested into hierarchies. Each group can be relative (with a robot-specifiable 6DoF pose) or absolute (with an author-specified fixed 6DoF pose) in relation to its parent. A relative group specifies a subassembly that can be constructed at a location chosen by the robot software for efficiency rather than mandated by the user.