Developing telerobotic systems using virtual reality concepts

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583122

M. Trivedi, Chuxin Chen

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引用次数: 10

Abstract

The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.

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利用虚拟现实概念开发远程机器人系统

许多应用程序领域的基本操作场景是在危险工作空间中部署非人类系统组件，并使人类操作员远离危险但真实的工作环境。操作员是集成系统的基本要素，并提供各种强大的显示器(包括视觉和非视觉信息)，用于远程呈现和远程操作的交互式控制。因此，操作员驻扎在安全和虚拟的工作环境中，能够配合机器人系统完成分配的任务。在过去的几年里，该团队一直在研究与机器人控制和系统开发中使用基于虚拟现实的概念相关的各种问题。研究的一些主要思想是，基于多感官的操作，真实和虚拟模式操作之间的透明度，在仿真中集成传感和任务规划，以及依赖广泛和系统的实验评估。所开发的系统可用于离线和在线操作。

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 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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