This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement. GRAPHICAL ABSTRACT

中文翻译：

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使用 VR 设备开发用于人类支持机器人的直观遥操作系统

本文介绍了我们为丰田人类支持机器人开发的直观远程操作系统。虽然该机器人已被广泛用作服务机器人领域的自主代理，但我们探索了该机器人在家庭环境中远程协助日常活动的可能性。为了快速制作经济实惠的远程操作系统原型，我们采用商用 VR 设备作为用户界面，并在软件应用程序编程接口 (API) 上开发基于机器人操作系统 (ROS) 的控制框架。特别是，我们实施了一种奇点鲁棒逆运动学算法，以实现机器人协调的全身运动，以实现安全直观的操作。我们通过各种测试任务对所提出的远程操作系统的实际可行性进行了实证评估。我们讨论了当前发展对其未来改进的潜力和局限性。图形概要