Remotely Teleoperating a Humanoid Robot to Perform Fine Motor Tasks with Virtual Reality - 18446
- University of Massachusetts Lowell (United States)
- Wentworth Institute of Technology (United States)
In this paper, we describe our ongoing work to develop cooperative control of NASA's R5 Valkyrie humanoid robot for performing dexterous manipulation tasks inside gloveboxes commonly found in many nuclear facilities. These tasks can be physically demanding and provide some element of risk to the operator when done by a person in situ. For example, if a glove is ruptured, the operator could be exposed to radioactive material. In many cases, the operator has low visibility and is unable to reach the entire task space, requiring the use of additional tools located inside the glovebox. Such tasks include cleaning particulate from inside the glovebox via sweeping or vacuuming, separating a specific amount of a compound to be weighed on a scale, or grasping and manipulating objects inside the glovebox. There is potential to move the operator to a nearby, safe location and instead place a humanoid robot in the potentially hazardous environment. However, teleoperating a humanoid robot to perform dexterous tasks at a comparable level to a human hand remains a difficult problem. Previous work for controlling humanoid robots often involves one or more operators using a standard 2D display with a mouse and keyboard as controllers. Successful interfaces use sensor fusion to provide information to the operator for increased situation awareness, but these designs have limitations. Gaining proper situation awareness by visualizing 3D information on a 2D screen requires time and increases the cognitive load on the user. Instead, if the operator is able to visualize and control the robot properly in three dimensions, it can increase situation and task awareness, reduce task time, reduce the chance of mistakes, and increase the likelihood of overall task success. We propose a two-part system that combines an HTC Vive virtual reality headset with either the Vive handheld controllers, or the Manus VR wearable gloves as the primary control. The operator wears the headset in a remote location and can visualize a reconstruction of the glovebox, created live by sensor scans from the robot and with sensors located inside the glovebox for a perspective traditionally unavailable to operators. By using the controllers or gloves to control the humanoid robots hands directly, they can plan actions in the virtual reconstruction. When the operator is satisfied with the plan, the actions are sent to the real robot. To test this system we have created a mockup of a glovebox that is accessible by Valkyrie, as well as several tasks that are a subsample of the tasks that might be required when working in a real glovebox. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 22977740
- Report Number(s):
- INIS-US-20-WM-18446; TRN: US21V0368017785
- Resource Relation:
- Conference: WM2018: 44. Annual Waste Management Conference, Phoenix, AZ (United States), 18-22 Mar 2018; Other Information: Country of input: France; 9 refs.; Available online at: https://www.xcdsystem.com/wmsym/2018/index.html
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
42 ENGINEERING
GLOVEBOXES
MOCKUP
NASA
NUCLEAR FACILITIES
OCCUPATIONAL SAFETY
RADIATION PROTECTION
RADIOACTIVE MATERIALS
REMOTE CONTROL
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
SENSORS
THREE-DIMENSIONAL CALCULATIONS