Journal
PROCEEDINGS OF THE 2019 14TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2019)
Volume -, Issue -, Pages 1606-1611Publisher
IEEE
DOI: 10.1109/iciea.2019.8833835
Keywords
Virtual Reality; robot control; human robot interaction
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In this paper, we propose an optical tracking based teleoperation system with a virtual reality interface for mobile robots. The system allows the user to teleoperate a mobile robot using bare hands and the user can adjust the autonomy of the robot between two levels: direct control and autonomous navigation. A Leap Motion sensor based non-contact teleoperation method is developed to translate sensor messages into velocity commands to the robot in order to interact with a remote mobile robot in a natural manner. By incorporating HTC. Vive virtual reality device, the user is fully immersed into the virtual space with visual feedback from the remote site. The system features cost-effective and extendable by leveraging commercial virtual reality devices and integrating it with open source robotic control middleware.
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