INTUITIVE MIXED REALITY INTERFACES FOR CREATIVE AND INTERACTIVE ROBOTICS: ROBOART, MAGNAFORMA, AND PLAYMEOW

Abstract

This thesis details the development and application of intuitive Mixed Reality (MR) interfaces designed to broaden access to robotic control for creative and interactive uses. The central contribution is the RoboART system, a novel MR interface built with the Microsoft HoloLens 2 to program an ABB GoFa collaborative robot for non-expert users, such as artists. The work describes RoboART\u27s application in the Magnaforma project, where it enabled complex artistic expression. Additionally, the thesis introduces the PlayMeow project, which explores adaptive pet interaction through a laser-guided turret. This system\u27s control strategies were deeply informed by the intuitive paradigms developed for RoboART, showcasing the transferability of MR-based interaction models. This work underscores the advantages of intuitive spatial interfaces in enhancing usability and reducing cognitive load. It explores the architectural considerations (using Unity), the role of sensing, and evaluation methodologies through the lens of these case studies (artistic expression and pet interaction). The collective contributions highlight a path toward more accessible and intelligent human-robot and animal-robot interaction