Immersive control of a quadruped robot with Virtual Reality Eye-wear

被引：0

作者：

Yousefi, Ali ^{[1
]}

Betta, Zoe ^{[1
]}

Mottola, Giovanni ^{[1
]}

Recchiuto, Carmine Tommaso ^{[1
]}

Sgorbissa, Antonio ^{[1
]}

机构：

[1] Univ Genoa, RICE Lab, Via Opera Pia 13, Genoa, Italy

来源：

2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024 | 2024年

关键词：

TELEOPERATION;

D O I：

10.1109/RO-MAN60168.2024.10731469

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This work describes an immersive control system for a quadruped robot, designed to track the head movements of the operator wearing a virtual reality eye-wear, while also utilizing joystick commands for locomotion control. The article details the implemented closed-loop velocity control approach and the locomotion task specifications. The proposed method has been implemented on a Spot robot from Boston Dynamics, with Meta Quest 2 virtual reality system. Evaluation of the approach involved a user study, where participants engaged in immersive control of the quadruped robot within an indoor experimental environment and provided feedback through standardized questionnaires. Pairwise comparison of the resulting data revealed significant advantages for the proposed immersive control system over a standard remote controller, with enhanced performance observed in the second trial of using the control system. However, participants lacking experience with virtual reality systems reported increased distress symptoms following the experiment. Code: https://www.github.com/aliy98/zed-oculus-spot

引用

页码：49 / 55

页数：7

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