Advancing Interactive Robot Learning: A User Interface Leveraging Mixed Reality and Dual Quaternions

Nikolaus Feith, Elmar Rueckert

Abstract: This paper proposes an innovative mixed reality (MR) user interface using dual quaternions (DQ) to enhance interactive robot learning (IntRL). The interface, developed for Microsoft Hololens2, facilitates intuitive interaction and visualization of robot pose trajectories in 3D space. It is designed with three main modes: Subscribe, for observing robot movements; Publish, for controlling robot actions; and Interaction, the main feature that allows users to adjust and refine trajectories. The use of DQ in this context provides a robust and efficient way to represent complex spatial relationships and motion. By bridging the gap between human operators and robotic systems, this interface aims to simplify complex robotic manipulations and demonstrates potential for broader applications in interactive learning environments, offering a novel approach in the field of robotics.