Abstract
This work presents the design of a bilateral tele-operation system for a mobile manipulator robot, allowing a human operator to perform complex tasks in remote environments. In the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. In the local site an environment of augmented reality developed in Unity3D is implemented, which through input devices recreates the sensations that the human would feel if he were in the remote site, for which is considered the senses of sight, touch and hearing. These senses help the human operator to “transmit” their ability and experience to the robot to perform a task. Finally, experimental results are reported to verify the performance of the proposed system.
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Acknowledgment
The authors would like to thanks to the Consorcio Ecuatoriano para el Desarrollo de Internet Avanzado -CEDIA-, Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato and the Escuela Superior Politécnica del Chimborazo for financing the project Tele-operación bilateral cooperativo de múltiples manipuladores móviles – CEPRAIX-2015-05, for the support to develop this paper.
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Andaluz, V.H. et al. (2016). Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot. In: De Paolis, L., Mongelli, A. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2016. Lecture Notes in Computer Science(), vol 9768. Springer, Cham. https://doi.org/10.1007/978-3-319-40621-3_18
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DOI: https://doi.org/10.1007/978-3-319-40621-3_18
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