ARでロボットを操る：拡張現実によるリーダー・フォロワー遠隔操作
Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
拡張現実空間で仮想ロボットを操作し、実機を直感的に遠隔操作するシステムを提案。ブロック積みと米すくいの実験で好意的な評価を得た。
著者: Jonne van Haastregt, Michael C. Welle, Yuchong Zhang, Danica Kragic
分類: cs.RO
原文アブストラクト
High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system allows for retaining the advantages of being intuitive from a physical leader-follower side while avoiding the unnecessary use of expensive physical setup. In addition, the user is endowed with additional information using augmented reality. We validate our system with a pilot study n=10 on a block stacking and rice scooping tasks where the majority rates the system favorably. Oculus App and corresponding ROS code are available on the project website: https://ar-puppeteer.github.io/
