Human-Robot-Interfaces based on Mixed Reality for Underwater Robot Teleoperation

Abstract

Abstract:In this paper, we present two Human-Robot interfaces for underwater robot teleoperation. This work is in the context of the Digital Ocean Europe project 1 that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive, virtually animated environments that are diffused online. The work presented in this paper concerns the 1) Web interface installed on an aquatic PC called DOLPHYN and 2) a VR/AR semi-immersive platform. Both interfaces are used for remote exploration of underwater sites. We discuss their technical implementation for underwater robot teleoperation (ROV).

Remote-Access Marine Robotics Infrastructure and Experiments at LABUST

“…When comparing our infrastructure and our work with others found in the literature reviewed in Section 2, we can note that most works on remote Control for marine robotics focus on ROVs [18][19][20][21]23,25,40]. There are works that include a fleet of ASVs (our joint work [24]) and a multitude of different heterogeneous Vehicles [26].…”

“…Additionally, it had visual and haptic feedback for the user controlling the ROV. Indeed, using haptic feedback has been used in other remote (or teleoperation) operations such as the ones described in [20,21] together with Virtual Reality (VR) for better human-robot interaction. Our own work with haptic and VR feedback in the context of diver-robot interaction can be found in [22].…”

Towards Metaverse: Utilizing Extended Reality and Digital Twins to Control Robotic Systems

“…The teleoperation of underwater vehicles presents various communication difficulties because of the environment's harsh and constantly changing conditions. Among these difficulties are constraints on communication bandwidth and signal quality, packet losses, propagation delay, environmental variability, and security concerns [34,35]. As described in [36], the difficulties related to human performance when controlling teleoperated systems can be divided into two categories.…”

Towards omnidirectional immersion for ROV teleoperation

“…With the rapid evolution of VR headsets in recent years, many works related to immersive virtual reality have been published recently [6,7] and some authors have applied this concept to the underwater domain. Domingues et al [8] proposed a semiimmersive Human Robot Interface (HMI), using a large screen with active stereoscopy and a force feedback device for teleoperation. Garcia et al [9] proposed, for the first time, the use of a VR headset and teleoperation using a gesture-based method and tested it in a virtual environment using a simulator.…”