Exploiting virtual reality and the robot operating system to remote-control a humanoid robot

The availability of frameworks and applications in the robotic domain fostered in the last years a spread in the adoption of robots in daily life activities. Many of these activities include the robot teleoperation, i.e. controlling its movements remotely. Virtual Reality (VR) demonstrated its effectiveness in lowering the skill barrier for such a task. This paper discusses the engineering and implementation of a general-purpose, open-source framework for teleoperating a humanoid robot through a VR headset. It includes a VR interface for articulating different robot actions using the VR controllers, without the need for training. Besides, it exploits the Robot Operating System (ROS) for the control and synchronization of the robot hardware, the distribution of the computation and its scalability. The framework supports the extension for operating other types of robots and using different VR configurations. We carried out a user experience evaluation with twenty users using System Usability Scale questionnaires and with six stakeholders on five different scenarios using the Software Architecture Analysis Method.