Volaly (pronounced ['volali]) is a technology for pointing-based human-robot interaction developed by the IDSIA's Robotics Group.
The repository is a ROS-meta package that defines dependencies of the project.
- volaly_bags A simple helper ROS package for recording and storing experimental data in one place.
- volaly_kinematics Human pointing models and virtual workspace shapes for 3D control.
- volaly_localization Pointing-based localization from motion.
- volaly_msgs Common messages used by other Volaly ROS packages.
- volaly_robots An interface package for various robots used in experiments.
- volaly_supervisor A set of finite state machines (FSMs) that drive interaction in experiments.
Note that the methods implemented in volaly_kinematics
and volaly_localization
are based on a patent-pending technology, and thus, you have to acquire the license from IDSIA to use it in commercial applications.
The following video gives an overview of pointing-based interaction and its application to flying and ground robots control. In particular, it demonstrates and briefly describes how does the pointing-based localization from motion method work (implemented in volaly_localization
).
More details available at: http://people.idsia.ch/~gromov/proximity-hri-pipeline
The next video demonstrates the new method that allows one to control quadrotors also in free 3D space (implemented in volaly_kinematics
).
More details available at: http://people.idsia.ch/~gromov/3d-pointing
Boris Gromov, Jérôme Guzzi, and Alessandro Giusti.
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B. Gromov, J. Guzzi, L. Gambardella, and A. Giusti, “Intuitive 3D Control of a Quadrotor in User Proximity with Pointing Gestures,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, to appear. Details.
Bibtex
@inproceedings{gromov2020intuitive, author = {Gromov, Boris and Guzzi, J{\'e}r{\^o}me and Gambardella, Luca and Giusti, Alessandro}, title = {Intuitive 3D Control of a Quadrotor in User Proximity with Pointing Gestures}, booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2020}, month = may, note = {to appear}, }
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B. Gromov, G. Abbate, L. Gambardella, and A. Giusti, “Proximity Human-Robot Interaction Using Pointing Gestures and a Wrist-mounted IMU,” in 2019 IEEE International Conference on Robotics and Automation (ICRA), 2019, pp. 8084–8091. Details.
Bibtex
@inproceedings{gromov2019proximity, author = {Gromov, Boris and Abbate, Gabriele and Gambardella, Luca and Giusti, Alessandro}, title = {Proximity Human-Robot Interaction Using Pointing Gestures and a Wrist-mounted {IMU}}, booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)}, pages = {8084-8091}, year = {2019}, month = may, doi = {10.1109/ICRA.2019.8794399}, issn = {2577-087X}, }
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B. Gromov, L. Gambardella, and A. Giusti, “Robot Identification and Localization with Pointing Gestures,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp. 3921–3928. Details.
Bibtex
@inproceedings{gromov2018robot, author = {Gromov, Boris and Gambardella, Luca and Giusti, Alessandro}, title = {Robot Identification and Localization with Pointing Gestures}, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2018}, pages = {3921-3928}, doi = {10.1109/IROS.2018.8594174}, issn = {2153-0866}, month = oct, }
Most of the code is released under the BSD 3-Clause New
license.
The volaly_localization
and volaly_kinematics
are released under BSD 3-Clause Clear
license that retains the patent rights.