AeroVr: Virtual reality-based teleoperation with tactile feedback for aerial manipulation

Grigoriy A. Yashin, Daria Trinitatova, Ruslan T. Agishev, Roman Ibrahimov, Dzmitry Tsetserukou

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    14 Citations (Scopus)

    Abstract

    Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred image caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4- DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a head-mounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in realtime. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.

    Original languageEnglish
    Title of host publication2019 19th International Conference on Advanced Robotics, ICAR 2019
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages767-772
    Number of pages6
    ISBN (Electronic)9781728124674
    DOIs
    Publication statusPublished - Dec 2019
    Event19th International Conference on Advanced Robotics, ICAR 2019 - Belo Horizonte, Brazil
    Duration: 2 Dec 20196 Dec 2019

    Publication series

    Name2019 19th International Conference on Advanced Robotics, ICAR 2019

    Conference

    Conference19th International Conference on Advanced Robotics, ICAR 2019
    Country/TerritoryBrazil
    CityBelo Horizonte
    Period2/12/196/12/19

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