Telerobotic Control in Virtual Reality

Abstract

and the Navy have identified more than 400 underwater sites potentially contaminated with munitions [22]. These munitions were left as a result of past military activities. They are an explosive hazard and their contents pose an environmental risk. An effective ROS (Robot Operating System) package that interfaces with Simulink/Matlab was developed to teleoperate an underwater robotic system in Virtual Reality for the remediation of these munitions. The key advantage of this VR teleoperation method is more effective and intuitive control in comparison to teleoperation methods that utilize a 2D monitor and joystick/keyboard/manipulandum input device. The ROS package was built to work with the Oculus DK2 VR headset and the Razer TM Hydra hand controllers.

Teleoperated aerial manipulator and its avatar. Part 1: Communication, system's interconnection, control, and virtual world

“…Tasks involving manipulation are presented in [17] for maintenance or repairing industrial robots in a VR environment, using an HTC vive device, and [18] for complex manipulating tasks using Virtual Reality (VR) sets. For highrisk tasks in [19] intuitive and effective control methods based on virtual reality implemented in ROS packages are proposed to teleoperate an underwater robotic arm to manipulate potentially dangerous objects. Regarding aerial manipulation systems win with virtual reality in reference [20] a 3D virtual simulator is implemented for collaborative tasks of autonomous and teleoperated navigation in a virtual room.…”

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

“…Teleoperation [39], as a direct means to acquire human demonstrations for teaching robots, has been a powerful paradigm to approach this goal [22,11,64,17,34,6,19,5,38,51]. Compared to gripper-based manipulators, teleoper-ating dexterous hand-arm systems poses unprecedented challenges and often requires specialized apparatus that comes with high costs and setup efforts, such as Virtual Reality (VR) devices [4,17,15], wearable gloves [29,30], handheld controller [45,46,20], haptic sensors [12,23,50,53], or motion capture trackers [65]. Fortunately, recent developments in vision-based teleoperation [2,24,16,26,42,27,21,22,3] have provided a low-cost and more generalizable alternative for teleoperating dexterous robot systems.…”

A Scalable Framework for Multi-Robot Tele-Impedance Control

“…Several works have tackled this issue, both from feedback/supervision and user input points of view. For instance, recently, virtual reality [21], [22], augmented reality [23], [24], and mixed reality [25] have found their way to the teleoperation systems by providing a better perception of the remote environment. However, in such scenarios, the users must be equipped with special sensors and devices, which can be tiresome and frustrating during prolonged operations.…”