Augmented Reality-Based Interface for Bimanual Robot Teleoperation

García-García, Alberto; Solanes, J. Ernesto; Muñoz, Adolfo; Gracia, Luis; Tornero, Josep

doi:10.3390/app12094379

Cited by 11 publications

(7 citation statements)

References 79 publications

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“…Figure 2 presents the methodology of this work to plan, develop, implement, and validate the proposed platform. Methodology presentation is based on work of Garcia et al [16].…”

Section: Methods and Approachmentioning

confidence: 99%

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

Kaarlela

Arnarson²,

Pitkäaho³

et al. 2022

Machines

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The erratic modern world introduces challenges to all sectors of societies and potentially introduces additional inequality. One possibility to decrease the educational inequality is to provide remote access to facilities that enable learning and training. A similar approach of remote resource usage can be utilized in resource-poor situations where the required equipment is available at other premises. The concept of Industry 5.0 (i5.0) focuses on a human-centric approach, enabling technologies to concentrate on human–machine interaction and emphasizing the importance of societal values. This paper introduces a novel robotics teleoperation platform supported by the i5.0. The platform reduces inequality and allows usage and learning of robotics remotely independently of time and location. The platform is based on digital twins with bi-directional data transmission between the physical and digital counterparts. The proposed system allows teleoperation, remote programming, and near real-time monitoring of controlled robots, robot time scheduling, and social interaction between users. The system design and implementation are described in detail, followed by experimental results.

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“…Figure 2 presents the methodology of this work to plan, develop, implement, and validate the proposed platform. Methodology presentation is based on work of Garcia et al [16].…”

Section: Methods and Approachmentioning

confidence: 99%

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

Kaarlela

Arnarson²,

Pitkäaho³

et al. 2022

Machines

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“…Pose estimation is a fundamental concept in computer vision that involves determining the position and orientation of an object or a camera relative to a specific coordinate system. It plays a crucial role in various applications, such as augmented reality [17], robotics, 3D scene reconstruction and human-computer interaction. In simple terms, pose estimation aims to answer the question: "Where is the object or camera located, and how is it oriented in 3D space?"…”

Section: Computer Vision and Other Advanced Techniquesmentioning

confidence: 99%

Special Issue on Trends and Challenges in Robotic Applications

Gracia

Pérez-Vidal

2023

Applied Sciences

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“…Thus, the manipulation or simply the movement in real-time is better [ 27 ]. This environmental information becomes more critical in unstructured environments, where recreation can be more complex [ 28 ].…”

Section: Related Workmentioning

confidence: 99%

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

Ulloa

Domínguez

Cerro

et al. 2022

Sensors

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In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.

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Augmented Reality-Based Interface for Bimanual Robot Teleoperation

Cited by 11 publications

References 79 publications

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

Special Issue on Trends and Challenges in Robotic Applications

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

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