VRコントローラを用いた液こぼし防止シナリオにおける共有遠隔操作
Shared Telemanipulation with VR controllers in an anti slosh scenario
低コストなVRコントローラと非線形モデル予測制御を組み合わせ、液体をこぼさずに運ぶ遠隔操作を実現するフレームワークを提案し、UR5eロボットアームで検証した。
著者: Max Grobbel, Balint Varga, Sören Hohmann
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited feedback to the human operator. Moreover, the high cost of haptic interfaces is a major limitation for the application of telemanipulation in various fields, including elder care, where our research is focused. To address these challenges, this paper proposes the usage of nonlinear model predictive control for telemanipulation using low-cost virtual reality controllers, including multiple control goals in the objective function. The framework utilizes models for human input prediction and taskrelated models of the robot and the environment. The proposed framework is validated on an UR5e robot arm in the scenario of handling liquid without spilling. Further extensions of the framework such as pouring assistance and collision avoidance can easily be included.
