Immersive ROS-integrated framework for robot teleoperation
Immersive ROS-integrated framework for robot teleoperation
复制标题
用于机器人远程操作的沉浸式 ROS 集成框架
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
E. Ruffaldi
中科院分区：
文献类型：
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作者：
Lorenzo Peppoloni;Filippo Brizzi;C. Avizzano;E. Ruffaldi
人机交互的自然界面的开发为用户提供了一种直观的方式来控制和引导机器人。在本文中，我们提出了一种新的ROS（机器人操作系统）集成接口的远程控制，允许用户远程操作机器人使用他的手运动。用户可以在两个级别之间在线调整机器人的自主性：直接控制和航路点跟踪。Leap Motion设备的手部跟踪和手势识别功能被用来生成控制命令。用户使用Kinect传感器和HMD接收实时3D增强视觉反馈。为了评估该系统的实用性，实验结果作为基准的Kuka Youbot的远程控制。
The development of natural interfaces for human-robot interaction provides the user an intuitive way to control and guide robots. In this paper, we propose a novel ROS (Robot Operating System)-integrated interface for remote control that allows the user to teleoperate the robot using his hands motion. The user can adjust online the autonomy of the robot between two levels: direct control and waypoint following. The hand tracking and gestures recognition capabilities of the Leap Motion device are exploited to generate the control commands. The user receives a real-time 3D augmented visual feedback using a Kinect sensor and a HMD. To assess the practicability of the system experimental results are presented using as a benchmark the remote control of a Kuka Youbot.