Mapping human to robot motion with functional anthropomorphism for teleoperation and telemanipulation with robot arm hand systems

Minas V. Liarokapis, Panagiotis Artemiadis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

In this paper teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2) is performed, using a human to robot motion mapping scheme that guarantees anthropomorphism. Two position trackers are used to capture position and orientation of human end-effector (wrist) and human elbow in 3D space and a dataglove to capture human hand kinematics. Then the inverse kinematics (IK) of the Mitsubishi PA-10 7-DoF robot arm are solved in an analytical manner, in order for the human's and the robot artifact's end-effectors to achieve same position and orientation in 3D space (functional constraint). Redundancy is handled in the solution space of the robot arm's IK, selecting the most anthropomorphic solution computed, with a criterion of 'Functional Anthropomorphism'. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology. Finally in order for the user to be able to detect contact and 'perceive' the forces exerted by the robot hand, a low-cost force feedback device, that provides a mixture of sensory information (visual and vibrotactile), was developed.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages1
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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