Application of Visual Servoing and Eye Tracking Glass in Human Robot Interaction: A case study

Abstract

Human gazes reveal a lot of information about their intention, which could be used for intuitive Human Robot Interaction(HRI). Using gaze as a modality to interact with robots has huge value in increasing freedom for human. It has a strong application potential in different domains. In this paper, we propose a system for eye tracking based HRI with which a human can select an object by his/her gaze and a robot manipulator receives the intended object and waits for the confirmation from the human before it starts the grasping task. We use Image-based Visual Servoing (IBVS) to guide the robot manipulator to perform the grasping automatically which can also bring more robustness to the system. The first hand results indicate that the use of both visual servoing features and eye tracking technique can provide successful results in term of human robot interaction.