Challenges in VR-based robot teleoperation

Cheng Peng Kuan; Kuu-Young Young

doi:10.1109/ROBOT.2003.1242280

Challenges in VR-based robot teleoperation

Cheng Peng Kuan^*, Kuu-Young Young

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

12 Scopus citations

Abstract

Teleoperation techniques unite the human operator as the supervisor and the machine as the manipulator. Because both the human operator and machine are involved in the control loop and they are connected via the network instead of a direct link, the development of a telerobotic system poses challenges different from systems involving machines alone. And these challenges become more severe when the telerobotic system is used for compliance task, in which simultaneous control of both position and force are demanded and inevitable contact with the environment is encountered. In this paper, we discuss the challenges we may face in designing a telerobotic system. We then describe the networked VR-based telerobotic system developed in our laboratory and report the results by using the developed telerobotic system to execute several different kinds of compliance tasks.

Original language	American English
Article number	1242280
Pages (from-to)	4392-4397
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2003.1242280
State	Published - 14 Sep 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Duration: 14 Sep 2003 → 19 Sep 2003

Keywords

Compliance task
Network
Teleoperation
Virtual reality (VR)

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10.1109/ROBOT.2003.1242280

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AB - Teleoperation techniques unite the human operator as the supervisor and the machine as the manipulator. Because both the human operator and machine are involved in the control loop and they are connected via the network instead of a direct link, the development of a telerobotic system poses challenges different from systems involving machines alone. And these challenges become more severe when the telerobotic system is used for compliance task, in which simultaneous control of both position and force are demanded and inevitable contact with the environment is encountered. In this paper, we discuss the challenges we may face in designing a telerobotic system. We then describe the networked VR-based telerobotic system developed in our laboratory and report the results by using the developed telerobotic system to execute several different kinds of compliance tasks.

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Challenges in VR-based robot teleoperation

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Keywords

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