Intuitive Real-Time Robot Teleoperation via VR, ROS, and Externally Guided Motion for Human Skill Transfer

This research integrated virtual reality (VR) and robotic teleoperation through a user-friendly motion capture control system, aiming to broaden the accessibility of teleoperated robotic systems for heavily labor and skill intensive manufacturing processes, such as airfoil deburring and blending. The use of VR technology enabled incorporating a digital twin into the program so that users can visualize the robot they are working with from any remote location. Additionally, by enabling the use of motion tracking gloves as an input device, teleoperation can be made more user-friendly than similar systems which rely solely on standard VR controllers. By combining these two technologies, we aim to more easily capture complex human motions for manufacturing tasks to program industrial robots to replicate highly skilled craftsmanship motion for automation.