We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile manipulator to optimally track the operator's whole-body command, while taking into account the user-slave kinematic dissimilarity (slave robot's joint limit, joint velocity limit, and singularity); and 3) Visuo-haptic-vestibular feedback with HMD (Head Mounted Display) for 3D visual information, wearable cutaneous haptic device for manipulation force feedback, and actuated chair for vestibular feedback to reduce HMD-induced motion sickness. Performance of the proposed framework is validated with simulation of a ROV (remotely operated vehicle) manipulator system and some preliminary user studies.


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    Titel :

    Whole-body multi-modal semi-autonomous teleoperation of mobile manipulator systems


    Beteiligte:
    ChangSu Ha, (Autor:in) / Sangyul Park, (Autor:in) / Jongbeom Her, (Autor:in) / Inyoung Jang, (Autor:in) / Yongseok Lee, (Autor:in) / Gun Rae Cho, (Autor:in) / Hyoung Il Son, (Autor:in) / Dongjun Lee, (Autor:in)


    Erscheinungsdatum :

    2015-05-01


    Format / Umfang :

    1283149 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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