Research on Robot Teleoperation Systems Based on Visual Positioning and Virtual Reality Technology
Robot teleoperation,where a human operator remotely controls a robot to perform tasks,combines the decision-making capabilities of humans with the execution capabilities of robots in unstructured environments.This approach has been widely used in various fields that involve complex tasks and potential hazards for humans.Crucial for efficient teleoperation is providing the operator with a strong sense of presence,which depends on the operator's immersive perception of the remote environment,including visual,tactile,and other sensory feedback,as well as precise and intuitive control of the robot.In this paper,an innovative robot teleoperation method that leverages visual localization and virtual reality technology is proposed.The proposed method begins by reconstructing and transmitting a static point-cloud model of the remote scene.Using the Gen6D pose estimation algorithm,objects in the scene are automatically detected based on RGB data.The pose information of these detected objects is then transmitted to a Unity virtual reality scene,where the point-cloud models of the objects are replaced with virtual equivalents.We fully leverage the inherent advantages of virtual reality to visualize the reconstructed remote scene immersively.The Unity physics engine drives the virtual objects,improving the operator's sense of presence.Moreover,we propose a cyber-physical mapping model with human-machine decoupling,which separates the control loops of the operator and the robot,effectively mitigating the impact of time delays on remote operations.We also propose an adaptive position incremental mapping algorithm within the virtual reality space.This algorithm adjusts the scale of pose mapping ac-cording to the distance between the virtual robot's end gripper and the target object,thereby improving teleoperation flexibility.This also incorporates obstacle avoidance features,ensuring the safety of teleoperation within the virtual reality environment.
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