Research On Human-computer Interaction And Motion Control Of Mixed Reality Avatar Robot

The rapid development of robotics industry has deepened the interaction between robots and operators since the 20 th century,which means the human-computer interaction is expanding from a mere exchange of information and traditional service robotics to a close interaction involving cognitive mode and interactive control.In order to solve the decision problem and faulty intelligence of robots,master-slave teleoperation robot took up.Master-slave teleoperation robot combines human intelligence with robotic bodies,which can help human to accomplish tasks in dangerous environments or long distances wrok through the semi-autonomous control.In this paper,the research status and trends of master-slave robots based on telexistence architecture in domestic and international scope are analyzed and studied.Moreover,points out some deficiencies of internal research,designed and developed a portable and lightweight mixed reality avatar robot with the help of mobile VR helmet,which can operate the robot remotely,stereoscopically and immersively at any time and anywhere.The slave end of avatar robot is mainly composed of omnidirectional mobile car,manipulator,binocular camera.The omnidirectional mobile car designed in this paper adopts a single motor to control four wheels synchronous steering through a connecting rod drive system,which solves the problems of the traditional omnidirectional mobile robot,such as the difficulty of control,too many motors to control and the poor coordination of action.An S-curve braking algorithm is adopted and implemented based on STM32,which improves the control performance of the car.The core concept of Telexistence is adopted in master control,with the help of immersive video and somatosensory control from the first-person perspective,the operator can interact with the robot through limb movements.The operator can directly control the robot arm and camera platform through wearing equipment.That's the implemention of human-computer integration of this article.This system uses VR helmet and quaternion attitude calculation and conversion based on smartphone,and establishes communication with B/S architecture of master-slave operating system to ensure real-time and synchronization.The HTTP protocol and WebSocket protocol are used to control the robot and realize the real-time path tracking function of the robot.Finally,the paper designed a prototype and carried out the experiments on its motion ability,immersive manipulation and real-time path tracking and recording system.The experiment results show that the system functions can achieve the design requirement and the operator can easily complete the grab and placement experiments,which provides a feasible basis for the theory described in this paper.A mixed reality avatar robot that combine the characteristics and advantages of traditional telexistence robot is designed in this paper.It has the advantages of good portability,multi-platform compatibility,and easy to control,which has application value in many fields such as service,rescue,military and so on.