Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

Abstract

Visual feedback is the most important form of perception within teleoperation, therefore there is a need for a solution that allows for increased potential information gain that a camera can provide, this can be obtained by having a camera that is able to move its position relatively to the base robot. Therefore, this paper focuses on the use of a drone to act as dynamic camera in teleoperation scenarios. The drone control is performed via the use of hand tracking through a wearable motion capture suit and is built upon an existing teleoperation control framework. The usability of the dynamic camera is demonstrated through the use of a simulated drone to act as a dynamic camera in a simulated buzz wire task.

Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators

“…It is also postulated that this framework could be applied to a control a pair of a wide range of different robots, from wheeled manipulators to humanoids, due to its independence from the kinematic structure of the robots it is controlling. Future work to further develop this framework will be to integrate a whole-body controller within it and add a mobile third person camera, with gaze control [22], to allow for reliable visual feedback during teleoperation scenarios. In addition, to further enable the manipulation and control capabilities, sensors allowing the localisation of the two robots could be implemented.…”