Augmented Reality Interface for Free Teleoperation
| Authors: | Le Ligeour Vincent, Université d'Evry Val d'Essonne, France
Otmane Samir, Université d'Evry Val d'Essonne, France
Mallem Malik, Université d'Evry Val d'Essonne, France |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Applications |
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| Keywords: | Telerobotics, teleoperation, tracking systems, distributed system, stereo vision, virtual reality |
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Abstract
Augmented Reality (AR) can provide to a Human Operator (HO) a real help to achieve complex tasks such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. This paper presents a new Man Machine Interface (MMI) allowing high-level telewok, using augmented reality technologies. An example of telework is presented in this paper as a teleoperation of the remote 4 Degree of Freedom (DoF) robot. An important feature of this interface is based on the use of two new modes devoted for HO perception and interaction.In a new perception mode, a wide screen with stereo glasses are used to allow stereoscopic perception of the remote real environment. The new interaction mode is given thanks to ART optical tracking system that allows HO to interact freely with the remote 4 DoF robot.An other important work presented in this paper is a distributed software architecture developed with three client/server modules (robot control, stereoscopic video feedback and tracking) and using appropriate methods (communication protocols, image compressions etc.).This new interface is tested and compared with ARITI interface (acronym of Augmented Reality Interface for Teleoperation via Internet) and some preliminary results are presented and discussed.
