Paper Info
Title
Towards The Development Of An Intuitive Teleoperation System For Human Support Robot Using A Vr Device
Abstract
This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.
Year
DOI
Venue
2020
10.1080/01691864.2020.1813623
ADVANCED ROBOTICS
Keywords
DocType
Volume
Teleoperation, human support robot, mobile base manipulator, VR device, coordinated whole-body control
Journal
34
Issue
ISSN
Citations 
19
0169-1864
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
J. Nakanishi129423.35
Shunki Itadera221.71
Tadayoshi Aoyama36928.58
Yasuhisa Hasegawa445694.62