Goal of This project

• In this study, we explore the enhancement of remote robotic control framework in hazardous environments, such as nuclear power plants and outer space, using Virtual Reality (VR) devices and physical robot platform. This control framework allows the operators to intuitively change their viewpoints and issue pose commands aligned with their head poses. We conducted experiments to compare task performance with and without viewpoint-based pose command calculation. Results indicate that incorporating the operator's viewpoint significantly reduces task execution time and smoothens the robot's trajectory. The proposed framework underscores the potential of VR-assisted control in improving efficiency and safety in remote robotics operations.  

Project Contents

Teleoperation control framework for enhancing operator telepresence through real-time virtual environment integration.

• Intuitive remote robot control algorithm with an operator-centric approach.

• Real-time force feedback for remote experience sharing.

Hierarchical control for whole-body force control and multi-task management 

• Implemented Whole-body control framework using Dynamically Consistent Generalized Hierarchical Control (DGHC).