Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in
  Manufacturing

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Abstract

Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual reality(VR) technology and integrating it with existing robotics control software. The system runs on a commercial gaming engine using off the shelf VR hardware. This system can be deployed on multiple network architectures from a wired local network to a wireless network connection over the Internet. The system is based on the homunculus model of mind wherein we embed the user in a virtual reality control room. The control room allows for multiple sensor display, dynamic mapping between the user and robot, does not require the production of duals for the robot, or its environment. The control room is mapped to a space inside the robot to provide a sense of co-location within the robot. We compared our system with state of the art automation algorithms for assembly tasks, showing a 100% success rate for our system compared with a 66% success rate for automated systems. We demonstrate that our system can be used for pick and place, assembly, and manufacturing tasks.

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Most cited references 4

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Postural instability induced by virtual reality exposure: development of a certification protocol.

R Kennedy, K Stanney (2015)

Exposure to virtual environments often causes users to experience symptoms of motion sickness. An accessory manifestation of motion sickness symptoms is postural disequilibrium. If the postural disequilibrium that occurs persists beyond the time an individual is within the confines of the laboratory or system site, user safety could be compromised and products liability issues could be forthcoming. In this study, a portable, automated postural assessment system is developed that can be employed before and after exposure to a virtual reality (VR) system in order to certify that a user's balance on exiting the system is at least demonstrably as good as it was on entering. It is argued that if the "coming out" balance performance is sufficiently poorer than the "going in" balance, then the user should be retained until the pretest balance performance is regained. The results from a set of normative and validation experiments on postural equilibrium identified several reliable measures of stance that could serve as a basis for certification. Furthermore, a new automated video-based measure using only head movement showed that performance over sessions is stable and reliable. The head movement changes that occur with stimuli, such as alcohol and simulator exposure, are well behaved, predictable, and significant even with small samples. The implication is that the proposed objective measure of postural stability, in conjunction with procedures for obtaining self-reports of symptoms, can afford some measure of certification that exposure to a given VR system is without harm.