服务机器人的远程操作系统使用虚拟现实耳机和3D姿势估计
Tiago Ribeiro1, Eduardo Fernandes1, António Ribeiro1
1Automation and Robotics Laboratory, Algoritmi Center, University of Minho, 4800-058 Guimaraes, Portugal.
Sensors (Basel, Switzerland)
|January 28, 2026
概括
本研究介绍了服务机器人的沉浸式远程操作系统,通过实时3D姿势估计和虚拟现实 (VR) 增强人机交互. 该框架可以实现直观的机器人控制,但在精确的关节旋转估计方面存在局限性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 计算机视觉 计算机视觉
背景情况:
- 服务机器人需要对复杂任务进行直观的控制.
- 现有的远程操作方法往往缺乏自然交互和情境意识.
- 将实时人类姿势估计与VR集成为一个有希望的解决方案.
研究的目的:
- 为服务机器人开发一个沉浸式的远程操作框架.
- 为了使直观和自然的机器人控制使用3D人类姿势估计和VR.
- 提高情境意识和机器人操纵能力.
主要方法:
- 使用MediaPipe进行2D地标检测,并使用英特尔RealSense D455摄像头进行深度数据.
- 重建了3D人类关节位置和计算的关节角度.
- 将关节角度映射到CHARMIE服务机器人的人形臂动力学上.
- 实现了一个具有立体视频和头部运动控制的VR接口.
主要成果:
- 在现实世界的物体抓取任务中展示了可靠的手臂远程操作和有效的远程存在.
- 实现了对服务机器人手臂的直观控制.
- 在仅视觉估计轴性关节旋转的确定的局限性,特别是在闭塞的情况下.
结论:
- 拟议的框架为低成本,传感器驱动,沉浸式的人机交互提供了一种实际方法.
- 该系统在动态环境中增强了服务机器人的功能.
- 需要进一步的研究来解决精确关节旋转估计的局限性,以改善远程操作.
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