IE University is using virtual reality to connect researchers to a physical robot through PUPPET, a research project at its CyPhy Life AI and Robotics Lab in Madrid. The project provides an immersive virtual laboratory for remote experimentation, with the aim of widening access to laboratory hardware.
Researcher Mahika Vats describes the link between the virtual laboratory and physical hardware as a way to test ideas under real-world conditions, including slipping grippers, changing lighting and sensor errors.
Connecting the virtual laboratory to the robot
The project brings together several components:
- Unity was used to build the virtual version of the laboratory.
- TIAGo, a robot from PAL Robotics, served as the physical robotic platform.
- ROS connected the VR environment, the robot and the tools used to monitor and record experiments.
- MoveIt supported robot motion planning.
- OptiTrack was used to track movement during development of the teleoperation system.
Vats describes coordinating the virtual environment, network delays and the robot's physical movements as a central challenge in building a stable system for data collection.