KUKA iiwa teleoperation in virtual reality
Context
Graduate laboratory project — immersive teleoperation interface for the KUKA iiwa during the master’s programme.
Problem
2D interfaces hide collision risk and contact state when commanding a manipulator remotely.
Approach
- ROS bridge to KUKA Sunrise (forward/inverse kinematics, 6 DOF)
- Touch haptic device for input and force feedback
- Unity scene in a Samsung HMD
- Real-time coupling between VR, simulation, and hardware
Outcome
Immersive teleoperation of the real arm with haptic cues — used in later shared-autonomy and user-study work.
Stack
ROS · Python · Unity · VR · Websockets · Haptics · Motion planning