A Comparative Study of Indirect and Direct Workspace Representation in Human-Robot Interaction

Farkhatdinov, Ildar; Balashov, Vadim; Ryu, Jee-Hwan; Poduraev, Jury

doi:10.3182/20090603-3-ru-2001.0133

Cited by 3 publications

(1 citation statement)

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“…The RGB video was disabled in the visualization study as we were interested in the operator's ability to understand the remote scene from the point cloud only. The robot was controlled in direct teleoperation mode, similar to [2], [3], [16]. The operator moved the robot by dragging and rotating the virtual desired pose axes mesh, see Fig.…”

Section: Methodsmentioning

confidence: 99%

Virtual Reality based Telerobotics Framework with Depth Cameras

Omarali

Denoun

Althoefer

et al. 2020

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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This work describes a virtual reality (VR) based robot teleoperation framework which relies on scene visualization from depth cameras and implements human-robot and human-scene interaction gestures. We suggest that mounting a camera on a slave robot's end-effector (an in-hand camera) allows the operator to achieve better visualization of the remote scene and improve task performance. We compared experimentally the operator's ability to understand the remote environment in different visualization modes: single external static camera, in-hand camera, in-hand and external static camera, in-hand camera with OctoMap occupancy mapping. The latter option provided the operator with a better understanding of the remote environment whilst requiring relatively small communication bandwidth. Consequently, we propose suitable grasping methods compatible with the VR based teleoperation with the in-hand camera. Video demonstration: https://youtu.be/3vZaEykMS_E.

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Section: Methodsmentioning

confidence: 99%