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Design of a telepresence interfacefor direct teleoperation of robots: The synergy between Virtual Reality and FreeLook Control
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In direct teleoperation the interface is vital to control a robot. Often it is reduced to a simple controller and the feedback provided by a camera stream in a monitor which leads to poor results.

A telepresence system combined with a Free Look Control is proposed to increase the result in terms of situational awareness, usability and comfort. The telepresence system provides the sense of depth to the operatorin several manners. Free Look Control replaces Tank Control as control mode, in which the robot can be driven in any direction and the operator takes the control of the camera. A synergy is found when both features are implemented together as their advantages are increased. In addition a multi-camera setup is created, in order to build the 3D environment shown to the operator, which is calibrated in an automatic way.

The two different control modes are tested and compared by several people. The outcome shows how the inclusion of these characteristics improve the result of the teleoperation in a visible way.

Place, publisher, year, edition, pages
2016. , 53 p.
Keyword [en]
interface, teleoperation, robots, VR, Virtual Reality, AR, presence, telepresence, FLC, TC, Tank Control, Free Look Control, feedback, control
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-187750OAI: oai:DiVA.org:kth-187750DiVA: diva2:931536
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Available from: 2016-06-15 Created: 2016-05-28 Last updated: 2016-06-15Bibliographically approved

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Computer Vision and Active Perception, CVAP
Robotics

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CiteExportLink to record
Permanent link

Direct link
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf