Abstract
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot to perform grasping in an easy and intuitive way, through exploiting the rich environment information provided by the virtual reality space. Our system has the benefit of easy transferability to different robots and different tasks, and can be used without any expert knowledge. We tested the system on a real fetch robot, and a video demonstrating the effectiveness of our system can be seen at this https URL.
Abstract (translated)
尽管虚拟现实技术近年来取得了进展,但在复杂场景下远程操纵高DOF机器人仍然非常困难。在本研究中,我们提出了一种系统,使用户可以通过利用虚拟现实空间提供丰富的环境信息,轻松直观地操纵Fetch机器人进行抓取。我们的系统具有易于转移至不同机器人和不同任务的优点,并且不需要任何专业知识就可以使用。我们测试了该系统对真实fetch机器人的性能和效果,以下是该系统的httpsURL。
URL
https://arxiv.org/abs/2301.13064
