Sučelje čovjeka i robota zasnovano na preslikavanju pokreta

master's thesis

• Title (english): Human-robot interface based on motion mapping
• Author: Petar Sorić
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Marko Car (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2025-02-21, Croatia

Abstract

Razvoj sučelja čovjeka i robota predstavlja velik izazov, ujedno i priliku za olakšavanje
suradnje čovjeka i robota. Tradicionalna sučelja čovjeka i robota prikazuju podatke na
2D ekranima, najčešće u obliku različitih grafova i video prijenosa s kamera. Neiskusnim
korisnicima ovakva sučelja djeluju izazovno i nepraktično. Ovaj rad istražuje primjenu
virtualne stvarnosti za razvijanje intuitivnog sučelja za teleoperaciju robota. Uspoređuju
se dvije metode: jedna koja se oslanja na praćenje... More pokreta čovjeka, a druga koja koristi
joystick kontrolere dostupne uz VR naočale. Iako je sustav do sada testiran na samo dva
tipa robota, njegova prilagodljivost omogućuje upravljanje širokim spektrom mobilnih
robota i zračnih vozila, a rezultati pokazuju da se uspješno može koristiti u stvarnim
uvjetima. Less

Abstract (english)

Developing intuitive human-robot interfaces presents a great opportunity to make
human-robot interaction more practical, as conventional human-robot interfaces typically involve looking at telemetry info on a 2D screen which makes it difficult for untrained people to make sense of the data. This paper investigates developing more intuitive interfaces for robot teleoperation using virtual reality (VR) headset with hand held controllers. We compare two ways of operating robots in VR, one... More using human motion tracking, and the other using familiar joystick controllers that come with our Meta Quest 3 headset. Although our system is currently focused and tested on just two types of robots, it can be adapted to support teleoperation of a wide range of mobile robots and aerial vehicles. Our experimental results suggest that the system can be succesfully used for operating mobile robots in the real-world scenarios. Less

• Keywords: virtualna stvarnost; sučelje robota i čovjeka; teleoperacija; mobilni roboti; virtualna stvarnost
• Keywords (english): robot teleoperation; human robot interaction (HRI); virtual reality (VR); robotics; mobile robots
• Language: croatian
• URN:NBN: urn:nbn:hr:168:628847
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-03-12 11:18:35