Master-Slave Teleoperation of Multi-DOF Cyton Robot with Input from PHANTOM Omni Using Visual Feedback

摘要

This paper presents the teleoperation of multi-DOF cyton robot using visual feedback which carries depth information. Teleoperation system consists of PHANTOM Omni device which was set as master and cyton robot as a slave robot. The motion of the slave robot was controlled through direct angle mapping of joints with master. Teleoperation system also uses visual feedback for enabling effective remote manipulability. Visual feedback contains side-by-side frames of left and right IR cameras attached to the Raspberry Pi compute module. Two cameras attached to compute module will capture simultaneous side by side frames and transmitted through network. 3D view of the remote location will be perceived by the user using 3D video transmission in side by side format. Live stream was enabled in smartphone and attached to the VR headset.