Robot Control with Oculus Rift
• Constructed the system communication architecture (TCP/IP) for the Oculus-based simulation platform so that the user can use Oculus built-in position tracker and IMU to control the robot. • Real-time Jacobian transpose inverse kinematic development to avoid the singularity. • Implemented the position to velocity mapping for end-effector velocity control. |
Robot Arm |
Hybrid Arm |
Biped Robot |