Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866929422264696832 |
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| author | van Haastregt, Jonne Welle, Michael C. Zhang, Yuchong Kragic, Danica |
| author_facet | van Haastregt, Jonne Welle, Michael C. Zhang, Yuchong Kragic, Danica |
| contents | High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system allows for retaining the advantages of being intuitive from a physical leader-follower side while avoiding the unnecessary use of expensive physical setup. In addition, the user is endowed with additional information using augmented reality. We validate our system with a pilot study n=10 on a block stacking and rice scooping tasks where the majority rates the system favorably. Oculus App and corresponding ROS code are available on the project website: https://ar-puppeteer.github.io/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_11741 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation van Haastregt, Jonne Welle, Michael C. Zhang, Yuchong Kragic, Danica Robotics High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system allows for retaining the advantages of being intuitive from a physical leader-follower side while avoiding the unnecessary use of expensive physical setup. In addition, the user is endowed with additional information using augmented reality. We validate our system with a pilot study n=10 on a block stacking and rice scooping tasks where the majority rates the system favorably. Oculus App and corresponding ROS code are available on the project website: https://ar-puppeteer.github.io/ |
| title | Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.11741 |