Comparing Robot Grasping Teleoperation Across Desktop and Virtual Reality with ROS Reality

摘要

Whether navigating a nuclear reactor station, defusing a bomb, or repairing the International Space Station from the outside, robots have the ability to be in places where humans cannot or should not go. Deft manipulation in those places could save lives. Since even the most advanced robots have difficulty completing tasks that require grasping and manipulation, human teleoperation is often a practical alternative - importing the dexterity, expertise, and wealth of background knowledge of a human operator without requiring them to be physically present.