Mixed Reality Interface for Improving Mobile Manipulator Teleoperation in Contamination Critical Applications

Rohat Bozyil*, Bence Bejczy, Evaldas Vaičekauskas, Sune Baagø Krogh Petersen, Simon Bøgh, Sebastian Hjorth, Emil Blixt Hansen

*Corresponding author

Research output: Contribution to journalConference article in JournalResearchpeer-review

Abstract

This paper presents a mixed reality teleoperation interface for mobile manipulation tasks in contamination critical production environments, wherehuman presence is undesirable. This is achieved by using an intuitive control approach and providing the operator with a sense of depth throughvarious visual feedback modalities. The different visual feeds from a mono- and stereoscopic multi-camera setup are displayed for the operator, ina mixed reality control room developed in Unity. The control interface employs the differentiation of the VR controller’s pose, interpolated into atrajectory for the end-effector. The communication between the operator and the robot is facilitated through ROS for control commands and visualfeedback. Speed of operation is typically not crucial in current use cases, while task safety, accuracy, and perception are paramount. The paperpresents the latest research developments of a mixed reality interface designed and tested for a mobile manipulator.
Original languageEnglish
JournalProcedia Manufacturing
ISSN2351-9789
Publication statusAccepted/In press - 2020
Event30th International Conference on Flexible Automation and Intelligent Manufacturing - Athens, Greece
Duration: 15 Jun 202118 Jun 2021
https://www.faimconference.org/

Conference

Conference30th International Conference on Flexible Automation and Intelligent Manufacturing
CountryGreece
CityAthens
Period15/06/202118/06/2021
Internet address

Keywords

  • Human-Robot Interaction
  • Teleoperation
  • Cleanroom Environments
  • Mixed Reality
  • Robotics
  • Mobile Manipulator

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