Challenges in VR-based robot teleoperation

Cheng Peng Kuan*, Kuu-Young Young

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

10 Scopus citations

Abstract

Teleoperation techniques unite the human operator as the supervisor and the machine as the manipulator. Because both the human operator and machine are involved in the control loop and they are connected via the network instead of a direct link, the development of a telerobotic system poses challenges different from systems involving machines alone. And these challenges become more severe when the telerobotic system is used for compliance task, in which simultaneous control of both position and force are demanded and inevitable contact with the environment is encountered. In this paper, we discuss the challenges we may face in designing a telerobotic system. We then describe the networked VR-based telerobotic system developed in our laboratory and report the results by using the developed telerobotic system to execute several different kinds of compliance tasks.

Original languageEnglish
Pages (from-to)4392-4397
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
StatePublished - 9 Dec 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003

Keywords

  • Compliance task
  • Network
  • Teleoperation
  • Virtual reality (VR)

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