Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

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• 关键词：Transparency ; Bilateral tele ; operation ; Virtual reality ; Augmented reality ; Mobile manipulator
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9768
• 期：1
• 页码：228-245
• 全文大小：9,981 KB
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• 作者单位：Víctor Hugo Andaluz (15) (16)
  Washington X. Quevedo (15)
  Fernando A. Chicaiza (15)
  José Varela (16)
  Cristian Gallardo (16)
  Jorge S. Sánchez (15)
  Oscar Arteaga (15)
  
  15. Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador
  16. Universidad Técnica de Ambato, Ambato, Ecuador
  
• 丛书名：Augmented Reality, Virtual Reality, and Computer Graphics
• ISBN：978-3-319-40621-3
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9768

文摘

This work presents the design of a bilateral tele-operation system for a mobile manipulator robot, allowing a human operator to perform complex tasks in remote environments. In the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. In the local site an environment of augmented reality developed in Unity3D is implemented, which through input devices recreates the sensations that the human would feel if he were in the remote site, for which is considered the senses of sight, touch and hearing. These senses help the human operator to “transmit” their ability and experience to the robot to perform a task. Finally, experimental results are reported to verify the performance of the proposed system.