Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

摘要

—Visual feedback is the most important form of perception within teleoperation, therefore there is a need for a solution that allows for increased potential information gain that a camera can provide, this can be obtained by having a camera that is able to move its position relatively to the base robot. Therefore, this paper focuses on the use of a drone to act as dynamic camera in teleoperation scenarios. The drone control is performed via the use of hand tracking through a wearable motion capture suit and is built upon an existing teleoperation control framework. The usability of the dynamic camera is demonstrated through the use of a simulated drone to act as a dynamic camera in a simulated buzz wire task.