Development of an Optical Tracking Based Teleoperation System with Virtual Reality

被引：0
|
作者：
Su, Yunpeng [1 ]
Ahmadi, Mohammad [1 ]
Bartneck, Christoph [2 ]
Steinicke, Frank [3 ]
Chen, Xiaoqi [4 ]
机构：
[1] Univ Canterbury, Dept Mech Engn, Christchurch, New Zealand
[2] Univ Canterbury, Human Interface Technol Lab, Christchurch, New Zealand
[3] Univ Hamburg, Dept Informat, Hamburg, Germany
[4] Shanghai Jiao Tong Univ, Sch Mat Sci & Engn, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2019 14TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2019) | 2019年
关键词：
Virtual Reality; robot control; human robot interaction;
D O I：
10.1109/iciea.2019.8833835
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, we propose an optical tracking based teleoperation system with a virtual reality interface for mobile robots. The system allows the user to teleoperate a mobile robot using bare hands and the user can adjust the autonomy of the robot between two levels: direct control and autonomous navigation. A Leap Motion sensor based non-contact teleoperation method is developed to translate sensor messages into velocity commands to the robot in order to interact with a remote mobile robot in a natural manner. By incorporating HTC. Vive virtual reality device, the user is fully immersed into the virtual space with visual feedback from the remote site. The system features cost-effective and extendable by leveraging commercial virtual reality devices and integrating it with open source robotic control middleware.
引用
收藏
页码：1606 / 1611
页数：6
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