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Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking

机译:沉浸式3D可视化和运动跟踪的通信限制下的直观的生物扫描

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Robots which solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications. As fully autonomous robots are not yet capable of operating in highly unstructured real-world scenarios, teleoperation is often used to embed the cognitive capabilities of human operators into the robotic system. The many degrees of freedom of anthropomorphic robots and communication restrictions pose challenges to the design of teleoperation interfaces, though. In this work, we propose to combine immersive 3D visualization and tracking of operator head and hand motions to an intuitive interface for bimanual teleoperation. 3D point clouds acquired from the robot are visualized together with a 3D robot model and camera images using a tracked 3D head-mounted display. 6D magnetic trackers capture the operator hand motions which are mapped to the grippers of our two-armed robot Momaro. The proposed user interface allows for solving complex manipulation tasks over degraded communication links, as demonstrated at the DARPA Robotics Challenge Finals and in lab experiments.
机译:迫切需要解决在环境中过于危险的复杂任务的机器人迫切需要进入的人类进入危险。用于搜索和救援应用程序。作为完全自治机器人尚未能够在高度非结构化的现实情景中运行,遥通经常用于将人类运营商的认知能力嵌入机器人系统中。然而,拟人机器人的多程度和通信限制的自由度构成了漫步封面的设计挑战。在这项工作中,我们建议将沉浸式3D可视化和跟踪操作员头部和手动动作的跟踪相结合,以直观的Bimanual遥操作界面。从机器人获取的3D点云与3D机器人模型和相机图像一起可视化,使用跟踪的3D头戴式显示器。 6D磁性跟踪器捕获映射到我们双臂机器人Momaro的夹持器的操作员手动运动。所提出的用户界面允许在DARPA机器人攻击决赛和实验室实验中解决过度的通信链路上的复杂操纵任务。

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