ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation

Abstract--The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a UR3 robot and a custom-built robotic head with two degrees of freedom (2-DoF). The system's usability, manipulation efficiency, and intuitiveness of control were evaluated in comparison with static head camera positioning across three distinct tasks. Teleoperation plays a pivotal role in robotics by enabling efficient data collection for learning from demonstrations. The quality of collected data heavily depends on the operator's ability to intuitively control the system and receive adaptive visual feedback.