PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications
In this paper, we introduce a tele-robotic station called “PARTI” that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate mult...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-07-01
|
| Series: | Frontiers in Virtual Reality |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frvir.2022.925794/full |
| _version_ | 1811314473642754048 |
|---|---|
| author | Jean Elsner Jean Elsner Gerhard Reinerth Gerhard Reinerth Luis Figueredo Abdeldjallil Naceri Ulrich Walter Sami Haddadin |
| author_facet | Jean Elsner Jean Elsner Gerhard Reinerth Gerhard Reinerth Luis Figueredo Abdeldjallil Naceri Ulrich Walter Sami Haddadin |
| author_sort | Jean Elsner |
| collection | DOAJ |
| description | In this paper, we introduce a tele-robotic station called “PARTI” that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate multibody system dynamics and frictional contacts with digital twins of our robots in a virtual environment with real-time computational capabilities. This model mediated hardware-in-the-loop approach to robotic control allows a teleoperator to use the PARTI system to teach, evaluate, and control various robotic applications. In the current contribution, we focus on the general system description, integrated simulation and control framework, and a series of experiments highlighting the advantages of our approach. |
| first_indexed | 2024-04-13T11:12:20Z |
| format | Article |
| id | doaj.art-7aa6f7ad68a94677b9650d2c501c0783 |
| institution | Directory Open Access Journal |
| issn | 2673-4192 |
| language | English |
| last_indexed | 2024-04-13T11:12:20Z |
| publishDate | 2022-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Virtual Reality |
| spelling | doaj.art-7aa6f7ad68a94677b9650d2c501c07832022-12-22T02:49:04ZengFrontiers Media S.A.Frontiers in Virtual Reality2673-41922022-07-01310.3389/frvir.2022.925794925794PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic ApplicationsJean Elsner0Jean Elsner1Gerhard Reinerth2Gerhard Reinerth3Luis Figueredo4Abdeldjallil Naceri5Ulrich Walter6Sami Haddadin7Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, GermanyChair of Astronautics, TUM School of Engineering and Design, Technical University of Munich (TUM), Munich, GermanyMunich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, GermanyChair of Astronautics, TUM School of Engineering and Design, Technical University of Munich (TUM), Munich, GermanyMunich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, GermanyMunich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, GermanyChair of Astronautics, TUM School of Engineering and Design, Technical University of Munich (TUM), Munich, GermanyMunich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, GermanyIn this paper, we introduce a tele-robotic station called “PARTI” that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate multibody system dynamics and frictional contacts with digital twins of our robots in a virtual environment with real-time computational capabilities. This model mediated hardware-in-the-loop approach to robotic control allows a teleoperator to use the PARTI system to teach, evaluate, and control various robotic applications. In the current contribution, we focus on the general system description, integrated simulation and control framework, and a series of experiments highlighting the advantages of our approach.https://www.frontiersin.org/articles/10.3389/frvir.2022.925794/fullhapticsvirtual realityroboticsdigital twinsimulationmodel mediated |
| spellingShingle | Jean Elsner Jean Elsner Gerhard Reinerth Gerhard Reinerth Luis Figueredo Abdeldjallil Naceri Ulrich Walter Sami Haddadin PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications Frontiers in Virtual Reality haptics virtual reality robotics digital twin simulation model mediated |
| title | PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications |
| title_full | PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications |
| title_fullStr | PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications |
| title_full_unstemmed | PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications |
| title_short | PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications |
| title_sort | parti a haptic virtual reality control station for model mediated robotic applications |
| topic | haptics virtual reality robotics digital twin simulation model mediated |
| url | https://www.frontiersin.org/articles/10.3389/frvir.2022.925794/full |
| work_keys_str_mv | AT jeanelsner partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT jeanelsner partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT gerhardreinerth partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT gerhardreinerth partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT luisfigueredo partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT abdeldjallilnaceri partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT ulrichwalter partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications AT samihaddadin partiahapticvirtualrealitycontrolstationformodelmediatedroboticapplications |