Long-Distance Virtual Reality Robot Teleoperation

Details

Task Description

In the context of Human-robot Interaction, Virtual Reality (VR) interfaces are usually used to control industrial robotic arms for short-distance interaction (e.g., same LAN). In real world scenarios, VR teleoperations should be also employed over long distances (e.g., world wide) that present additional challenges (e.g., delay, jitter, etc.). Moreover, the robotic environment is normally reconstructed using point cloud-like data which suffers under high-delay conditions. This thesis will explore long-distance VR teleoperation systems using RGB-D cameras, VR immersive headsets, and a real industrial robotic arm.

Possible collaboration with the New Dexterity group (New Zealand-based, to be verified)

Possible steps (to be discussed):

• How to simulate different network conditions (in terms of delay, jitter, bandwidth)
• How to 3D reconstruct the robotic environment
• How to effectively transfer the data to the user side

Requirements

• Unity3D/C#
• C++/Python
• ROS

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