Virtual reality support for teleoperation using online grasp planning

Classic telepresence approaches allow a human to interact with a remote or a virtual reality environment (VR) with force feedback. Coupling with a remote robot can be used to work in dangerous environments without the human being on-site. The coupling with a VR system can be used for training and ve...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems p. 2074
Main Authors Hertkorn, Katharina, Roa, Maximo A., Brucker, Manuel, Kremer, Philipp, Borst, Christoph
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Couplings
Force
Force feedback
Robots
Robustness
Virtual reality
Visualization
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Summary:Classic telepresence approaches allow a human to interact with a remote or a virtual reality environment (VR) with force feedback. Coupling with a remote robot can be used to work in dangerous environments without the human being on-site. The coupling with a VR system can be used for training and verification of task sequences or robotic actions.training and verification of task sequences or robotic actions. We present an enhanced telepresence system that uses the advantages of VR to perform manipulation tasks in remote environments with multifingered hands.It provides the user with an intuitive interface that visualizes the knowledge of the robot about its environment; and the combination of VR, telepresence and shared autonomy facilitates object manipulation for the user.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696637