A PC-based virtual reality system for dual-arm humanoid robot control.

摘要

This dissertation presents the design and implementation of a PC-based virtual reality (VR) system for integrating sensors, actuators, and software components in both real and virtual robotic environments over the computer network. The VR system combines the computational power of a PC-based virtual reality with human intelligence to enhance the performance of the robotic system.; The implementation of the VR system can be customized as an on-line robotic telepresence system, or alternatively as an off-line robotic training system. It offers a variety of multimedia capabilities such as live video feedback, force feedback, speech recognition and synthesis, etc. Several VR devices, such as a VR HMD, a CyberPuck, and a 3-D force feedback joystick, can be interfaced with the system to provide a sensation of being immersed within the VR robotic environment.; The PC-based VR system magnifies the performance of 3-D collision avoidance for ISAC, a dual-arm humanoid robot, in the Intelligent Robotics Laboratory at Vanderbilt University. The operator can employ the VR system to receive the information of the remote site, to determine the motions of the both robotic arms, to preview all plans using an off-line robotic simulator, and to operate the actual robot system intuitively and effectively.