A Hierarchical Gesture-guided Framework for Multi-manipulator Fabrication and Collaboration

With the rapid development of human-robot collaboration in workspaces, the interest in human-in-the-loop design and fabrication is expanding. In this research, we introduce a modularized gesture-guided framework for multi-manipulator fabrication. Echoing human-centered HRI in robotic construction and design fabrication, we explored different hierarchies of gesture-instructed tasks in a fabrication setting that involves manipulating and operating on materials. This gesture-guided framework for multi-manipulator fabrication contains instruction types at different control levels, making both gesture sets and assigned instructions modular and easily accessible for diverse tasks. Based on the flexibility of the high-level instruction pipeline, we also implemented a preliminary reachability-guided solver specifically for multi-manipulators in fabrication scenarios, improving the success rate for mutually constrained multi-goal assignment in the baseline Multi-Robot System (MRS).