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XR-Teleop: An XR-Based Teleoperation and Digital Twin Framework for the Franka Emika Panda Robot
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Extended reality (XR) teleoperation systems enable intuitive and high-quality human interaction with robotic manipulators, facilitating demonstration collection, supervisory control, and Digital Twin interaction. However, many existing approaches rely on tightly coupled communication pipelines or specialized middleware, limiting modularity and extensibility. This paper presents XR–Teleop, an open and modular teleoperation framework that bridges a physical Franka Emika Panda robot and its Digital Twin counterpart using MQTT-based communication. The system supports real-time teleoperation and is designed to be easily modifiable, simple to use, and compatible with readily available consumer hardware.
Title: XR-Teleop: An XR-Based Teleoperation and Digital Twin Framework for the Franka Emika Panda Robot
Description:
Extended reality (XR) teleoperation systems enable intuitive and high-quality human interaction with robotic manipulators, facilitating demonstration collection, supervisory control, and Digital Twin interaction.
However, many existing approaches rely on tightly coupled communication pipelines or specialized middleware, limiting modularity and extensibility.
This paper presents XR–Teleop, an open and modular teleoperation framework that bridges a physical Franka Emika Panda robot and its Digital Twin counterpart using MQTT-based communication.
The system supports real-time teleoperation and is designed to be easily modifiable, simple to use, and compatible with readily available consumer hardware.
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