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Back2Future-SIM: Creating Real-Time Interactable Immersive Virtual World For Robot Teleoperation
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- Author / Creator
- Akturk, Sait
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In the context of human-robot interaction (HRI), robot autonomy addresses how environmental input influences a robot’s actions, spanning a spectrum from full human control to independent robot motion. The quality of HRI relies on information exchange, evaluated through factors like interaction duration, mental workload, and spatial awareness. Sensory feedback is crucial, with a growing interest in combining communication methods for more natural interactions. Challenges arise in distant proximity interactions with communication delays, where predictive sensory feedback emerges as a solution to enhance interaction efficiency by providing predictive information from the robot’s environment.
In this thesis, our focus is on providing predictive haptic feedback and immersive visuals from the virtual replica of the remote scene in a physics simulator. Our system acts as a bridge between the operator and the follower robot, considering real-world constraints. We create a cyber-physical system using a real-time 3D surface mesh reconstruction algorithm and a digital twin of the Barrett WAM arm robot. The Gazebo physics simulator integrates the digital twin and an incremental surface mesh to create a real-time virtual replica of the remote scene. This virtual replica is used to provide haptic surface interaction feedback through collision detection from the physics simulator. Additionally, we address the operator’s spatial awareness by using an immersive display for predictive visualization. -
- Subjects / Keywords
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- Graduation date
- Spring 2024
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- Type of Item
- Thesis
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- Degree
- Master of Science
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- License
- This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.