Immersive remote grasping: realtime gripper control by a heterogenous robot control system

Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology Pub Date : 2016-11-02 DOI:10.1145/2993369.2996345

D. Krupke, Lasse Einig, E. Langbehn, Jianwei Zhang, Frank Steinicke

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引用次数: 11

Abstract

Current developments in the field of user interface (UI) technologies as well as robotic systems provide enormous potential to reshape the future of human-robot interaction (HRI) and collaboration. However, the design of reliable, intuitive and comfortable user interfaces is a challenging task. In this paper, we focus on one important aspect of such interfaces, i.e., teleoperation. We explain how to setup a heterogeneous, extendible and immersive system for controlling a distant robotic system via the network. Therefore, we exploit current technologies from the area of virtual reality (VR) and the Unity3D game engine in order to provide natural user interfaces for teleoperation. Regarding robot control, we use the well-known robot operating system (ROS) and apply its freely available modular components. The contribution of this work lies in the implementation of a flexible immersive grasping control system using a network layer (ROSbridge) between Unity3D and ROS for arbitary robotic hardware.

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沉浸式远程抓取:异质机器人控制系统实时抓取器控制

当前用户界面(UI)技术和机器人系统领域的发展为重塑人机交互(HRI)和协作的未来提供了巨大的潜力。然而，设计可靠、直观和舒适的用户界面是一项具有挑战性的任务。在本文中，我们将重点讨论这种接口的一个重要方面，即远程操作。我们解释了如何建立一个异构、可扩展和沉浸式系统，通过网络控制远程机器人系统。因此，我们利用虚拟现实(VR)和Unity3D游戏引擎领域的当前技术，为远程操作提供自然的用户界面。在机器人控制方面，我们使用著名的机器人操作系统(ROS)，并采用其免费的模块化组件。这项工作的贡献在于利用Unity3D和ROS之间的网络层(ROSbridge)实现了一个灵活的沉浸式抓取控制系统，用于任意机器人硬件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology

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