Design of a telepresence interfacefor direct teleoperation of robots : The synergy between Virtual Reality and FreeLook Control

Abstract: In direct teleoperation the interface is vital to control a robot. Often it is reduced to a simple controller and the feedback provided by a camera stream in a monitor which leads to poor results. A telepresence system combined with a Free Look Control is proposed to increase the result in terms of situational awareness, usability and comfort. The telepresence system provides the sense of depth to the operatorin several manners. Free Look Control replaces Tank Control as control mode, in which the robot can be driven in any direction and the operator takes the control of the camera. A synergy is found when both features are implemented together as their advantages are increased. In addition a multi-camera setup is created, in order to build the 3D environment shown to the operator, which is calibrated in an automatic way. The two different control modes are tested and compared by several people. The outcome shows how the inclusion of these characteristics improve the result of the teleoperation in a visible way.