Comparing Inverse Kinematics for a 6 DoF Manipulator controlled by a VR Headset

The goal of this project is to implement the fundamentals of an autonomous method that provides a dynamic and flexible point of view for a humanoid being tele-manipulated performing a grasping task, addressing challenges such as occlusion in complex environments. This method allows the user to directly change the position of a non-grasping arm’s end-effector using a Virtual Reality (VR) headset, while the orientation of the camera mounted to it is autonomously adjusted to be pointing at the end-effector of the arm performing the grasping task. For this project, a comparison study is carried out evaluating the performance of four methods used to solve the IK to move the end-effector's position based on the VR headset movements. The orientation adjustment is left for future work.
A great thank you to Manav Mepani, Anirudh Ramanathan, Pranay Katyal, Prahladh Raja, Prasham Soni and Nehal Sonawane. It was a pleasure working with them.