TY - GEN
T1 - Towards a virtual reality interface for remote robotic teleoperation
AU - Naceri, Abdeldjallil
AU - Mazzanti, Dario
AU - Bimbo, Joao
AU - Prattichizzo, Domenico
AU - Caldwell, Darwin G.
AU - Mattos, Leonardo S.
AU - Deshpande, Nikhil
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Intuitive interaction is the cornerstone of efficient and effective task execution in remote robotic teleoperation. It requires high-fidelity in control actions as well as perception (vision, haptic, and sensory feedback) from the remote environment. This paper presents Vicarios, a VR-based teleoperation interface with the aim of facilitating intuitive real-time remote teleoperation, while utilizing the inherent benefits of VR, including immersive visualization, freedom of viewpoint selection, and fluidity of interaction through natural action interfaces. The overall architecture of Vicarios is described, with its components and framework. A preliminary comparative user study, with a real-world tele-manipulation task, was conducted to quantify the effectiveness of Vicarios. It is shown that the VR-based interface is easy-to-use and learn, with an overall learning rate of 0.93 sec. per trial for the users. The smoothness metric shows that the users can improve on their task performance over time as well. Vicarios allows the intuitiveness and flexibility to maintain efficiency in tele-robotic tasks. It forms the basis for an immersive perception interface in remote robotic teleoperation.
AB - Intuitive interaction is the cornerstone of efficient and effective task execution in remote robotic teleoperation. It requires high-fidelity in control actions as well as perception (vision, haptic, and sensory feedback) from the remote environment. This paper presents Vicarios, a VR-based teleoperation interface with the aim of facilitating intuitive real-time remote teleoperation, while utilizing the inherent benefits of VR, including immersive visualization, freedom of viewpoint selection, and fluidity of interaction through natural action interfaces. The overall architecture of Vicarios is described, with its components and framework. A preliminary comparative user study, with a real-world tele-manipulation task, was conducted to quantify the effectiveness of Vicarios. It is shown that the VR-based interface is easy-to-use and learn, with an overall learning rate of 0.93 sec. per trial for the users. The smoothness metric shows that the users can improve on their task performance over time as well. Vicarios allows the intuitiveness and flexibility to maintain efficiency in tele-robotic tasks. It forms the basis for an immersive perception interface in remote robotic teleoperation.
UR - http://www.scopus.com/inward/record.url?scp=85084284613&partnerID=8YFLogxK
U2 - 10.1109/ICAR46387.2019.8981649
DO - 10.1109/ICAR46387.2019.8981649
M3 - Conference contribution
AN - SCOPUS:85084284613
T3 - 2019 19th International Conference on Advanced Robotics, ICAR 2019
SP - 284
EP - 289
BT - 2019 19th International Conference on Advanced Robotics, ICAR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Advanced Robotics, ICAR 2019
Y2 - 2 December 2019 through 6 December 2019
ER -