Tarallo, Andrea (2009) Human-Mechanical system interaction in Virtual Reality. [Tesi di dottorato] (Unpublished)

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Item Type: Tesi di dottorato
Language: English
Title: Human-Mechanical system interaction in Virtual Reality
Creators:
CreatorsEmail
Tarallo, Andreaandrea.tarallo@gmail.com
Date: 29 November 2009
Number of Pages: 89
Institution: Università degli Studi di Napoli Federico II
Department: Ingegneria meccanica per l’energetica
Doctoral School: Ingegneria industriale
PHD name: Ingegneria dei sistemi meccanici
PHD cycle: 22
PHD Coordinator:
nameemail
Tuccillo, Raffaeledigironi@unina.it
Tutor:
nameemail
Caputo, Francescofrcaputo@unina.it
Di Gironimo, Giuseppedigironi@unina.it
Date: 29 November 2009
Number of Pages: 89
Uncontrolled Keywords: Human-Robot Interaction; HRI; Virtual Reality; assistive robotics; humanoid robotics
MIUR S.S.D.: Area 09 - Ingegneria industriale e dell'informazione > ING-IND/15 - Disegno e metodi dell'ingegneria industriale
Date Deposited: 10 Mar 2010 11:58
Last Modified: 30 Apr 2014 19:37
URI: http://www.fedoa.unina.it/id/eprint/3635

Abstract

The present work aims to show the great potential of Virtual Reality (VR) technologies in the field of Human-Robot Interaction (HRI). Indeed, it is foreseeable that in not too distant future cooperating robots will be increasingly present in human environments. Many authors actually believe that after the current information revolution, we will witness the so-called "robotics revolution", with the spread of increasingly intelligent and autonomous robots capable of moving into our own environments. Since these machines must be able to interact with human beings in a safe way, new design tools for the study of Human-Robot Interaction (HRI) are needed. The author believes that VR is an ideal design tool for the study of the interaction between humans and automatic machines, since it allows the designers to interact in real-time with virtual robotic systems and to evaluate different control algorithms, without the need of physical prototypes. This also shields the user from any risk related to the physical experimentation. However, VR technologies have also a more immediate application in the field of HRI, such as the study of usability of interfaces for real-time controlled robots. In fact, these robots, such as robots for microsurgery or even "teleoperated" robots working in a hostile environments, are already quite common. VR allows the designers to evaluate the usability of such interfaces by relating their physical input with a virtual output. In particular, the author has developed a new software application aimed at simulating automatic robots and, more generally, mechanical systems in a virtual environment. The user can interact with one or more virtual manipulators and also control them in real-time by means of several input devices. Finally, an innovative approach to the modeling and control of a humanoid robot with high degree of redundancy is discussed. VR implementation of a virtual humanoid is useful for the study of both humanoid robots and human beings.

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