Teleoperated Robot Grasping in Virtual Reality Spaces

TL;DR

This paper presents a virtual reality-based teleoperation system enabling intuitive and transferable grasping tasks with high-DoF robots, demonstrated on a real fetch robot, enhancing ease of use and adaptability.

Contribution

The work introduces a VR teleoperation system that simplifies robot control for dexterous tasks, with broad transferability across robots and tasks, requiring no expert knowledge.

Findings

Successful implementation on a real fetch robot

System improves ease and intuitiveness of teleoperation

Demonstrated effectiveness via video showcase

Abstract

Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot to perform grasping in an easy and intuitive way, through exploiting the rich environment information provided by the virtual reality space. Our system has the benefit of easy transferability to different robots and different tasks, and can be used without any expert knowledge. We tested the system on a real fetch robot, and a video demonstrating the effectiveness of our system can be seen at https://youtu.be/1-xW2Bx_Cms.