Coupled Human-machine Tele-manipulation
| Autor: | Timo Röhling, Bernd Brüggemann, Jochen Welle |
|---|---|
| Přispěvatelé: | Publica |
| Rok vydání: | 2015 |
| Předmět: |
Engineering
business.industry Motion capture Industrial and Manufacturing Engineering Human–robot interaction Units of measurement NIST Artificial Intelligence Human–computer interaction Inertial sensor units Joystick Robot Computer vision Human–machine system Artificial intelligence Self-calibration User interface Mobile manipulation Human-robot interaction business |
| Zdroj: | Procedia Manufacturing. 3:998-1005 |
| ISSN: | 2351-9789 |
| DOI: | 10.1016/j.promfg.2015.07.157 |
| Popis: | Robots are primarily deployed for tasks which are dirty, dull, or dangerous. While the former two are already highly automated, many dangerous tasks such as explosive ordnance disposal or inspection in hazardous environments are predominantly done via tele-operation. Usually, such tasks require the manipulation of objects in a way that cannot be done reliably with automated systems. In this paper, we present a method to tele-operate the manipulator of a robot by transferring the operator's arm movement. The movement is recorded with inertial measurement units which can be sewn into clothing and need no external infrastructure like cameras or motion capture systems. The lack of intermediate user interfaces (e.g. joysticks) makes this control method very intuitive and easy to learn. We demonstrate this with two different NIST manipulation tests and as part of an integrated system for the ELROB robot competition. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|