Application of virtual reality in teleoperation of the military mobile robotic system TAROS

Abstract

Aspects of a complicated control system for a teleoperated military mobile robot, known as the Tactical Robotic System (TAROS), that pertain to virtual reality and general support to a human operator are presented in the article. Particularly noteworthy is the novel and distinctive virtual operator station system, which places the operator in a virtual environment with visual input from the robot and camera views, including stereovision, using the HMD Oculus Rift. The virtual operator station replaces what would otherwise be a huge room with pricey equipment in a portable and affordable manner. Another device that aids the operator in remote manipulation chores is mentioned as well: the anti-collision system, which guards against careless motions of the manipulator arm damaging the robot's mechanical components.