论文标题
虚拟现实中的共享控制机器人操纵
Shared-Control Robotic Manipulation in Virtual Reality
论文作者
论文摘要
在本文中，我们介绍了用于移动机器人操纵器的基于虚拟现实（VR）的远程操作界面的实现细节。我们提出了一种迭代的人类在循环设计中，用户在设置下一个航路点之前，用户为机器人的终端效应器设置了下一个任务空间航路点，并在物理机器人上执行操作。从机器人周围环境中提供了两种形式的信息：作为3D空间中的点云，以及在虚拟墙上投射的视频流。通过虚拟末端效应器的颜色将所选端效应姿势的可行性传达给用户。该界面被证明可以成功地用于选择和放置方案，但是，我们的试验表明，相互作用的流利度和系统的自主水平可以提高。
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint for the robot's end effector and executes the action on the physical robot before setting the next waypoints. Information from the robot's surroundings is provided to the user in two forms: as a point cloud in 3D space and a video stream projected on a virtual wall. The feasibility of the selected end effector pose is communicated to the user by the color of the virtual end effector. The interface is demonstrated to successfully work for a pick and place scenario, however, our trials showed that the fluency of the interaction and the autonomy level of the system can be increased.
