Virtual Reality Telerobotic System

This paper describes a telerobotic system operated through a virtual
reality (VR) interface. A least squares method is used to find the
transformation mapping, from the virtual to real environments. Results
revealed an average transformation error of 3mm. The system was tested
for the task of planning minimum time shaking trajectories to discharge
the contents of a suspicious package onto a workstation platform.
Performance times to carry out the task directly through the VR
interface showed rapid learning, reaching standard time (288 seconds)
within 7 to 8 trials - exhibiting a learning rate of 0.79.
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This paper describes a telerobotic system operated through a virtual reality (VR) interface. A least squares method is used to find the transformation mapping, from the virtual to real environments. Results revealed an average transformation error of 3mm. The system was tested for the task of planning minimum time shaking trajectories to discharge the contents of a suspicious package onto a workstation platform. Performance times to carry out the task directly through the VR interface showed rapid learning, reaching standard time (288 seconds) within 7 to 8 trials - exhibiting a learning rate of 0.79.
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