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Dual-arm robot teleoperation support with the virtual world

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Abstract

This paper describes the construction of an operator support system for teleoperation of dual-arm robots in the real world and the virtual world. The robot simulator Choreonoid was implemented to create a virtual space. We focus on dual-arm robot teleoperation in particular because it is difficult for the operator to operate a dual arm with one controller. In the verification experiment for usability, through the use of questionnaires and statistical analysis, we show that it is possible to reduce the risks involved in dual-arm operation for a novice teleoperator by comparing the case when the virtual space was confirmed with when it was not.

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Acknowledgements

The authors thank Tomoya Kohno from Liberaware CO., LTD., Yasunari Motoki, Chiaki Saito, and Noritaka Baba from Aizuk, Inc. for developing E2 Spider, and Takeshi Moue and Tsuyoshi Anazawa from FSK CO., LTD for advising about Choreonoid in our proposed system.

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Authors and Affiliations

  1. The University of Aizu, Tsuruga, Ikki-machi, Aizu-Wakamatsu, Fukushima, 965-8580, Japan

    Keita Nakamura, Kenta Tohashi & Yuki Funayama

  2. University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305-8577, Japan

    Hikaru Harasawa

  3. Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata, 992-8510, Japan

    Jun Ogawa

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  1. Keita Nakamura
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  2. Kenta Tohashi
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  3. Yuki Funayama
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  4. Hikaru Harasawa
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  5. Jun Ogawa
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Corresponding author

Correspondence to Keita Nakamura.

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This work was presented in part at the 24th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 23-25, 2019.

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Nakamura, K., Tohashi, K., Funayama, Y. et al. Dual-arm robot teleoperation support with the virtual world. Artif Life Robotics 25, 286–293 (2020). https://doi.org/10.1007/s10015-020-00587-6

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  • DOI: https://doi.org/10.1007/s10015-020-00587-6

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