The symbiosis between computer graphics and modern planning and control methodologies is the basis for the development of projective virtual reality (PVR) based telepresence techniques at the IRF. The underlying idea of PVR is to first let the user work in a virtual world modeled after the physical plant to control and supervise. A PVR system then automatically deduces the impact of the user's actions on the state of the virtual plant and in turn employs action planning methods to generate the equivalent impact on the physical plant using robots or other means of automation. Thus the robots are "projecting" the user's actions from the virtual into the physical world. The developed PVR system is of especially useful for space applications. For the German/Japanese project GETEX (German ETS-VII Experiment), the IRF realized the telerobotic ground state for the free flying robot ERA on board the Japanese satellite ETS-VII.
Space robot commanding and supervision by means of projective virtual reality: the ERA experiences
2001
11 Seiten, 10 Quellen
Conference paper
English
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