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SCOPUS
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 송철 | - |
| dc.contributor.author | John David Prieto Prada | - |
| dc.date.accessioned | 2025-01-20T21:17:02Z | - |
| dc.date.available | 2025-01-20T21:17:02Z | - |
| dc.date.issued | 2024 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/57574 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000802741 | - |
| dc.description | Human–robot interaction, Robotic manipulation, Grasping, Extended reality, Machine learning, Deep reinforcement learning | - |
| dc.description.tableofcontents | I. Introduction 1 1 Background and Motivation 1 2 Contributions and Outline 2 3 Publications 3 3.1 Research Related to the Dissertation 3 3.2 Excluded Research 3 3.3 Patents 4 3.4 Reviewer 4 II. General Fundamentals 5 1 Human-Robot Interaction (HRI) 5 1.1 Definition and Overview of HRI 5 1.2 Types of HRI 5 1.3 Push–and–grasp manipulation in HRI 7 2 Extended Reality 8 2.1 Virtual Reality 8 2.2 Augmented Reality 8 2.3 Mixed Reality 8 III. Sensor Fusion in VR for Precise Motion Tracking 9 1 Introduction 9 2 Methods 11 2.1 Hardware System 11 2.2 Software System 11 2.3 Training Model 12 3 Experiments 14 3.1 Stationary Environment 15 3.2 Dynamic Environment 15 4 Results 15 4.1 Validations 15 4.2 Stationary Experiment 17 4.3 Dynamic Experiment 18 5 Conclusions 19 6 Supplementary material 20 6.1 IMU Drift and dead reckoning in VRCs 20 6.2 IMU drift validation in VRCs 21 6.3 Using transformer ML model for enhancing the VRC position signal 21 IV. A Gaze-Speech System in MR for HRI 25 1 Introduction 25 2 Methods 27 2.1 Hardware 27 2.2 The MR Environment Configuration 27 2.3 TCP/IP Protocol for HRI in MR 29 3 Experiments 29 3.1 Pick–and–Place Experiments 29 3.2 Survey 31 3.3 Hypotheses 31 4 Results and Discussion 32 4.1 Pick–and–Place Tasks Results 32 4.2 Target–to–Target Performance Results 34 4.3 Survey Results 34 4.4 Discussion 35 5 Conclusions 37 V. Enhanced robotic manipulation in MR environments 39 1 Introduction 39 2 Methods 41 2.1 Training Scenario 41 2.2 Pushing Protocol 42 2.3 Grasping Protocol 44 2.4 Sim2Real 46 3 Experiments and Results 47 3.1 Training Results 47 3.2 Validation of the System 48 3.3 Generalization of the Problem 49 3.4 Real–World Implementation 50 3.5 Discussion 51 4 Conclusions 52 VI. Flat Object Manipulation in MR environments 54 1 Introduction 54 2 Methods 55 2.1 Training Scenario 55 2.2 Flatness criteria for object selection 56 2.3 Flat Object Scenario 58 3 Experiments and Preliminary Results 62 4 Conclusions 68 VII. Concluding Remarks 69 1 Conclusions 69 2 Future Work 70 VIII. Acknowledgment 71 References 72 IX. 요 약 문 84 |
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| dc.format.extent | 84 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.title | Precision Human-Robot Interaction using Machine Learning in Extended Reality | - |
| dc.title.alternative | 기계를 이용한 정밀한 인간-로봇 상호작용 확장 현실에서의 학습 | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/THESIS.200000802741 | - |
| dc.description.degree | Doctor | - |
| dc.contributor.department | Department of Robotics and Mechatronics Engineering | - |
| dc.identifier.bibliographicCitation | John David Prieto Prada. (2024). Precision Human-Robot Interaction using Machine Learning in Extended Reality. doi: 10.22677/THESIS.200000802741 | - |
| dc.contributor.coadvisor | Sang Hyun Park | - |
| dc.date.awarded | 2024-08-01 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RD P947 202408 | - |
| dc.date.accepted | 2024-07-24 | - |
| dc.contributor.alternativeDepartment | 로봇및기계전자공학과 | - |
| dc.subject.keyword | Human–robot interaction, Robotic manipulation, Grasping, Extended reality, Machine learning, Deep reinforcement learning | - |
| dc.contributor.affiliatedAuthor | John David Prieto Prada | - |
| dc.contributor.affiliatedAuthor | Cheol Song | - |
| dc.contributor.affiliatedAuthor | Sang Hyun Park | - |
| dc.contributor.alternativeName | John David Prieto Prada | - |
| dc.contributor.alternativeName | Cheol Song | - |
| dc.contributor.alternativeName | 박상현 | - |
| dc.rights.embargoReleaseDate | 2029-08-31 | - |
