VISUAL ENVIRONMENT AND JOYSTICK BASED CONTROL FOR HUMANOID TELEOPERATION

2009 ◽  
Vol 06 (02) ◽  
pp. 91-97
Author(s):  
MUHAMMAD USMAN KEERIO ◽  
YUEPIN LU
Keyword(s):  
Virtual Reality ◽  
Robot Vision ◽  
Control Technique ◽  
Visual Environment ◽  
Virtual Scene ◽  
Video Information ◽  
Control Interface ◽  
Walking Motion ◽  
Virtual Visual Environment ◽  
Joystick Control

In the case of dark/bad light environments cameras cannot shoot images clearly for the operator to complete the task. Also, video information from camera or robot vision is not enough for some typical applications like telesurgery to pick up an object. In this paper a novel controlling approach for humanoid teleoperation using virtual reality is presented, such that the robot can work safely and accurately in such circumstances. In this regard the work has been enhanced by developing the virtual/visual environment using joystick control interface for controlling Humanoid BHR-2 motion to complete a task safely and accurately. Software Maya is chosen for this work, which can perform all the vision-related calculations. Experiments are conducted using joystick control commands where the operator controls BHR-2 walking motion while looking at virtual scene on his computer to confirm the effectiveness of novel control technique.

The Research of Virtual Assembly of Cotton Picker Roller Based on Virtual Reality

2010 ◽  
Vol 156-157 ◽  
pp. 496-499
Author(s):  
Wen Lei Sun ◽  
Yu Shan Cao ◽  
Wei Sun
Keyword(s):  
Virtual Reality ◽  
Three Dimensional ◽  
Virtual Assembly ◽  
Assembly Process ◽  
Software Environment ◽  
Virtual Scene ◽  
Mapping Software ◽  
Three Dimensional Mapping ◽  
Cotton Picker ◽  
Dimensional Mapping

This paper took the roller of a new cotton picker as the example, drew its various parts and assemblyed overally in the three-dimensional mapping software environment of UG, imported the models into the virtual reality assembly platform by the interface between UG and VAPlatform, added the virtual hand and carried through the virtual assembly in the virtual scene based on the certain assembly restriction in UG. The paper realized the visualization of the assembly path, offered the foundation for the feasible assembly path, and finally obtained the reasonable assembly process, provided a set of reasonable operation guide for the workers to assemble the cotton pickers.

Research of Technology of Virtual Building and Scene Roaming by Visual Basic

2012 ◽  
Vol 490-495 ◽  
pp. 2333-2336
Author(s):  
Man Yu Zhang ◽  
Wei Min Zhao
Keyword(s):  
Virtual Reality ◽  
Computer Graphics ◽  
Computer Technology ◽  
Three Dimensional ◽  
Visual Basic ◽  
Virtual Reality Technology ◽  
Virtual Scene ◽  
Dimensional Simulation

Recently, the computer technology, especially computer graphics, networks, multimedia, three dimensional simulation developments, injected virtual reality technology with new vitality, which also give 3D virtual scene a direction. The article mainly discusses technology of virtual building scenery, application in today's independent virtual building scene’s deficiency, and the integration of 3D virtual reality, locality and perspective advantages.

Study of Virtual Scene Interaction Based on VRML and 3DS Max

2015 ◽  
Vol 713-715 ◽  
pp. 2345-2347 ◽  
Author(s):  
Yang Kuang ◽  
Jie Jiang
Keyword(s):  
Virtual Reality ◽  
3D Model ◽  
Virtual Scene

3DS MAX has a capacity of producing visual 3D model, VRML is a kind of Virtual Reality Language. The combination of the two can construct virtual scene and realize interaction between user and virtual scene. This paper introduces the method of using VRML combined with 3DS MAX to achieve dynamic interactive virtual scene, Study on several interactive modes in VRML.

scholarly journals Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy

2008 ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
Abhishek Seth ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Stereo Vision ◽  
Vision System ◽  
Tracking System ◽  
A Priori ◽  
Obstacle Detection ◽  
Remotely Operated Vehicle ◽  
Autonomous Operation ◽  
Control Interface ◽  
Video Feed

A multi modal teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view thereby allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and real state tracking system enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. As both the vehicle and the operator share absolute autonomy in stages, the operation is referred to as mixed autonomous. Finally, the system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The system effectively balances the autonomy between human and on board vehicle intelligence. The stereo vision based obstacle avoidance system is initially implemented on video based teleoperation architecture and experimental results are presented. The VR based multi modal teleoperation interface is expected to be more adaptable and intuitive when compared to other interfaces.

Design and Implementation of Virtual Roaming Based on Unity3D

2014 ◽  
Vol 1079-1080 ◽  
pp. 837-842
Author(s):  
Sha Liang
Keyword(s):  
Virtual Reality ◽  
Rapid Development ◽  
Virtual Reality Technology ◽  
Body Experience ◽  
Key Technology ◽  
Virtual Scene ◽  
3D Rendering ◽  
Design And Implementation ◽  
Unity 3D ◽  
Rendering Engine

Along with the rapid development,3D virtual reality technology has been applied more and more widely. In order to display the virtual scene better and make user an immersed body experience, 3D rendering engine plays a key role in this field. Unity 3d is a professional gaming rendering engine with strong compatibility and comprehensive integration. In this paper, we focus on the Unity 3D rendering engine, and describe the basic workflow of virtual roaming. We discuss the key technology to realize outdoor roaming through Unity 3D and optimization.

Using fMRI to Study the Neural Correlates of Virtual Reality Analgesia

CNS Spectrums ◽  
2006 ◽  
Vol 11 (1) ◽  
pp. 45-51 ◽  
Author(s):  
Hunter G. Hoffman ◽  
Todd L. Richards ◽  
Aric R. Bills ◽  
Trevor Van Oostrom ◽  
Jeff Magula ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Brain Activity ◽  
Empirical Studies ◽  
Neural Correlates ◽  
Medical Problem ◽  
Control Technique ◽  
Medical Procedures ◽  
Burn Wound ◽  
Pain Ratings ◽  
Subjective Pain

ABSTRACTExcessive pain during medical procedures, such as burn wound dressing changes, is a widespread medical problem and is especially challenging for children. This article describes the rationale behind virtual reality (VR) pain distraction, a new non-pharmacologic adjunctive analgesia, and gives a brief summary of empirical studies exploring whether VR reduces clinical procedural pain. Results indicate that patients using VR during painful medical procedures report large reductions in subjective pain. A neuroimaging study measuring the neural correlates of VR analgesia is described in detail. This functional magnetic resonance imaging pain study in healthy volunteers shows that the large drops in subjective pain ratings during VR are accompanied by large drops in pain-related brain activity. Together the clinical and laboratory studies provide converging evidence that VR distraction is a promising new non-pharmacologic pain control technique.

Design and control of a haptic interactive motion simulator for virtual entertainment systems

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 47-56 ◽  
Author(s):  
M. Karkoub ◽  
M.-G. Her ◽  
J.-M. Chen
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Haptic Feedback ◽  
Environmental Changes ◽  
Bilateral Control ◽  
The Real ◽  
Real Environment ◽  
Control Interface ◽  
Motion Simulator ◽  
Nyquist Stability

SUMMARYIn this paper, an interactive virtual reality motion simulator is designed and analyzed. The main components of the system include a bilateral control interface, networking, a virtual environment, and a motion simulator. The virtual reality entertainment system uses a virtual environment that enables the operator to feel the actual feedback through a haptic interface as well as the distorted motion from the virtual environment just as s/he would in the real environment. The control scheme for the simulator uses the change in velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator, and the haptic feedback to the operator to maneuver the simulator in the real environment. The stability of the closed-loop system is analyzed based on the Nyquist stability criteria. It is shown that the proposed design for the simulator system works well and the theoretical findings are validated experimentally.

Sign in / Sign up

Export Citation Format

Share Document