Teleoperation by seamless transitions in real and virtual world environments
Teleoperation by seamless transitions in real and virtual world environments
复制标题
通过现实和虚拟世界环境中的无缝过渡进行远程操作
DOI：
10.1016/j.robot.2023.104405
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发表时间：
2023
影响因子：
4.3
通讯作者：
Kurazume Ryo
中科院分区：
文献类型：
--
作者：
Aoki Junki;Sasaki Fumihiro;Yamashina Ryota;Kurazume Ryo
本研究探讨机器人遥操作的可操作性和可接受性问题。先前的研究已经提出了有效的方法来提高人类的感知能力和机器人的自主性，但降低了可操作性和接受性。我们提出了一种新颖的遥操作方法，它克服了现有方法的弱点，同时继承了它们的优点。我们的方法的主要特点是切换遥控机器人世界从真实的虚拟。用户研究结果表明，所提出的方法提供了一个改进的用户体验相比，传统的方法，而任务效率是相同的所有方法。提出了真实的和虚拟空间无缝切换的遥操作方法，提出了实现无缝切换的图像变换方法和视觉效果，并通过实际移动的机器人实验验证了所提系统的实用性。
This study investigates operability and acceptability issues in the teleoperation of robots. Prior studies have proposed efficient approaches to increase human perceptual ability and robot autonomy but with reduced operability and acceptance. We propose a novel teleoperation method that overcomes the weaknesses of existing approaches while inheriting their strengths. The key feature of our method is switching the teleoperated robot world from real to virtual. The user study results showed that the proposed method offered an improved user experience compared to the conventional methods, while task efficiency was equivalent in all methods. The contributions of this paper include the proposal of the teleoperation method by seamless switching between real and virtual space, the proposal of an image transformation method and visual effect to achieve seamless switching, and verification of the practicality of the proposed system through experiments on actual mobile robots.