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Methods for Effective Mimicry-based Teleoperation of Robot Arms

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Daniel RakitaAuthors Info & Claims

HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

Pages 371 - 372

https://doi.org/10.1145/3029798.3034812

Published: 06 March 2017 Publication History

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Abstract

In this research, I report on novel methods to afford more intuitive and efficient robot teleoperation control using human motion. The overall premise of this work is that allowing users to control robots using the natural input space of their arms will lead to task performance and subjective measure benefits over more traditional interfaces. In this paper, I outline completed work on a mimicry-based teleoperation control system that enables improved task proficiency for novice users by mapping their arm motion to a robot arm in real-time, as well as ongoing and future research that will further improve this control paradigm.

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D. Rakita, B. Mutlu, and M. Gleicher, "A motion retargeting method foreffective mimicry-based teleoperation of robot arms," in Proceedingsof the 2017 ACM/IEEE International Conference on Human-robot Interaction. ACM, 2017.

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Cited By

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Vitanov IFarkhatdinov IDenoun BPalermo FOtaran ABrown JOmarali BAbrar THansard MOh CPoslad SLiu CGodaba HZhang KJamone LAlthoefer K(2021)A Suite of Robotic Solutions for Nuclear Waste DecommissioningRobotics10.3390/robotics1004011210:4(112)Online publication date: 7-Oct-2021
https://doi.org/10.3390/robotics10040112
Omarali BAlthoefer KMastrogiovanni FValle MFarkhatdinov I(2021)Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)10.1109/SMC52423.2021.9658796(607-612)Online publication date: 17-Oct-2021
https://dl.acm.org/doi/10.1109/SMC52423.2021.9658796
Weng CYuan QLim ZChen I(2020)Applications of Light-Weight Wearable Devices to Online Programming of Industrial Dual-Arm RobotsUnmanned Systems10.1142/S230138502050014408:03(211-219)Online publication date: 23-Mar-2020
https://doi.org/10.1142/S2301385020500144
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Index Terms

Methods for Effective Mimicry-based Teleoperation of Robot Arms
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. External interfaces for robotics
      2. Robotic control
2. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Motion capture
      2. Motion processing

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Published In

HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

March 2017

462 pages

ISBN:9781450348850

DOI:10.1145/3029798

General Chairs:
Bilge Mutlu
University of Wisconsin-Madison, USA
,
Manfred Tscheligi
University of Salzburg, Austria
,
Program Chairs:
Astrid Weiss
Vienna University of Technology, Austria
,
James E. Young
University of Manitoba, Canada

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 06 March 2017

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Funding Sources

National Science Foundation

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HRI '17

Sponsor:

SIGAI
SIGCHI
IEEE-RAS

HRI '17: ACM/IEEE International Conference on Human-Robot Interaction

March 6 - 9, 2017

Vienna, Austria

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HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;

Overall Acceptance Rate 192 of 519 submissions, 37%

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Cited By

View all

Vitanov IFarkhatdinov IDenoun BPalermo FOtaran ABrown JOmarali BAbrar THansard MOh CPoslad SLiu CGodaba HZhang KJamone LAlthoefer K(2021)A Suite of Robotic Solutions for Nuclear Waste DecommissioningRobotics10.3390/robotics1004011210:4(112)Online publication date: 7-Oct-2021
https://doi.org/10.3390/robotics10040112
Omarali BAlthoefer KMastrogiovanni FValle MFarkhatdinov I(2021)Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)10.1109/SMC52423.2021.9658796(607-612)Online publication date: 17-Oct-2021
https://dl.acm.org/doi/10.1109/SMC52423.2021.9658796
Weng CYuan QLim ZChen I(2020)Applications of Light-Weight Wearable Devices to Online Programming of Industrial Dual-Arm RobotsUnmanned Systems10.1142/S230138502050014408:03(211-219)Online publication date: 23-Mar-2020
https://doi.org/10.1142/S2301385020500144
Yuan QWeng CLim ZChen I(2019)A Mirrored Motion Remapping Method in Telemanipulation-based Face-to-Face Dual-arm Robot Teaching2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM.2019.8868401(1086-1091)Online publication date: 8-Jul-2019
https://dl.acm.org/doi/10.1109/AIM.2019.8868401

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A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms

Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation

Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms