Virtual Reality Support for Teleoperation Using Online Grasp Planning

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#Katharina Hertkorn #Maximo A. Roa #Manuel Brucker #Philipp Kremer # Christoph Borst #virtual reality #telepresence #online grasp planning

This video shows an enhanced telepresence system that uses the advantages of virtual reality (VR) to perform manipulation tasks in remote environments with multifingered hands.It provides the user with an intuitive interface that visualizes the knowledge of the robot about its environment; and the combination of VR, telepresence and shared autonomy facilitates object manipulation for the user.

This video shows a shared autonomy system. It is based on the DLR Telepresence System and enhanced with autonomous grasp planning and object recognition. The grasp planning plans the contact points for the fingers of the robotic hand in realtime.