Intuitive Virtual Reality based Control of a Real-world Mobile Manipulator

Le, DT; Sutjipto, S; Lai, Y; Paul, G

Intuitive Virtual Reality based Control of a Real-world Mobile Manipulator

Le, DT Sutjipto, S Lai, Y Paul, G

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Publication Type:: Conference Proceeding
Citation:: International Conference on Control, Automation, Robotics and Vision, 2020
Issue Date:: 2020-12-14

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Field	Value	Language
dc.contributor.author	Le, DT
dc.contributor.author	Sutjipto, S
dc.contributor.author	Lai, Y
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020
dc.date	2020-12-13
dc.date.accessioned	2021-01-05T06:00:16Z
dc.date.available	2020-08-31
dc.date.available	2021-01-05T06:00:16Z
dc.date.issued	2020-12-14
dc.identifier.citation	International Conference on Control, Automation, Robotics and Vision, 2020
dc.identifier.uri	http://hdl.handle.net/10453/145085
dc.description.abstract	This paper presents an integration of Virtual Reality (VR) interfaces with the control system of a real-world mobile manipulator, ultimately facilitating a natural and intuitive method for human-robot interaction. VR’s ability to track movements in 3D space and translate performed motions provide an intuitive platform for users to explore and interact with the virtual environment. Coupled with intuitive controls, such as grabbing and pointing, the VR platform provides a compelling advantage that can be used to solve limitations of traditional remote robot teleoperation methods. This paper summarises the system implemented, which includes a simulation of the robot in Unity3d, as well as analyses critical results of accuracy and performance, from experiments with users of various experience levels. The method used for measuring accuracy with a simulated robot presented a utilitarian validation for contrasting the difference between 2D and VR 3D interfaces. Users’ performance and experience under various levels of control latency, which is a crucial factor in remote online robot control, were also measured.
dc.language	en
dc.relation	Ausdrill (Perenti Global Ltd)
dc.relation	Ausdrill (Perenti Global Ltd)
dc.relation.ispartof	International Conference on Control, Automation, Robotics and Vision
dc.relation.ispartof	International Conference on Control, Automation, Robotics and Vision
dc.relation.ispartofseries	ICARCV
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Intuitive Virtual Reality based Control of a Real-world Mobile Manipulator
dc.type	Conference Proceeding
utslib.location.activity	Shenzhen, China
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.consider-herdc	true
utslib.copyright.embargo	2023-12-31T00:00:00+1000Z
dc.date.updated	2021-01-05T06:00:07Z
pubs.finish-date	2020-12-15
pubs.publication-status	Published
pubs.start-date	2020-12-13

Abstract:

This paper presents an integration of Virtual Reality (VR) interfaces with the control system of a real-world mobile manipulator, ultimately facilitating a natural and intuitive method for human-robot interaction. VR’s ability to track movements in 3D space and translate performed motions provide an intuitive platform for users to explore and interact with the virtual environment. Coupled with intuitive controls, such as grabbing and pointing, the VR platform provides a compelling advantage that can be used to solve limitations of traditional remote robot teleoperation methods. This paper summarises the system implemented, which includes a simulation of the robot in Unity3d, as well as analyses critical results of accuracy and performance, from experiments with users of various experience levels. The method used for measuring accuracy with a simulated robot presented a utilitarian validation for contrasting the difference between 2D and VR 3D interfaces. Users’ performance and experience under various levels of control latency, which is a crucial factor in remote online robot control, were also measured.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/145085