Helping People Predict the Outcome of Robotic Pouring Behaviors with Augmented Reality

摘要: People effortlessly manipulate fluids due to their intuitive understanding of fluid dynamics, while robots struggle with complex fluid dynamic calculations, particularly in tasks like pouring. To enhance assistive robots in such tasks, we propose involving users in correcting and providing feedback by visualizing the planned pouring trajectories before they are executed. This paper investigates whether people can predict robotic pouring outcomes and make adjustments to minimize spills, using visualization devices like augmented reality. In a human-participant study, participants evaluated and adjusted robot pouring behaviors of unique configurations for various source containers. Results highlight the effectiveness of visualization tools such as augmented reality headsets, as well as traditional 2D display, especially with specific pouring parameters, and users noted their benefits in open-ended responses. This research illuminates the potential for human-robot collaboration in fluid manipulation tasks, with visualization tools reducing spills in robot-controlled pours.