https://orcid.org/https://orcid.org/0000-0002-2880-4698
https://orcid.org/https://orcid.org/0000-0003-2443-3516
https://orcid.org/https://orcid.org/0000-0002-2271-5870
https://orcid.org/https://orcid.org/0000-0002-8685-5426
https://orcid.org/https://orcid.org/0000-0002-7763-8622
Teleoperation has the potential to enable robots to replace humans in high-risk scenarios and catastrophic events, performing manipulation tasks efficiently and securely under human guidance. However, achieving human-like dexterous manipulation remains challenging, particularly for anthropomorphic hand-arm robotic systems with high degrees of freedom. Accurately capturing the operator’s motion and providing real-time intuitive feedback to enhance the sense of telepresence place substantial demands on human-robot perception and interaction. Moreover, the inherent physical and functional differences between anthropomorphic hand-arm robots and humans pose challenges in ensuring the accuracy and reliability of dexterous teleoperation. To overcome these challenges, we present an integrated approach involving an anthropomorphic hand-arm robot system, a wearable motion capture and force feedback system, and a set of motion mapping and force mapping methods. We conducted experiments on both simulation and real-world platforms to evaluate the usability and effectiveness of our proposed approach, with the results demonstrating significant advancements in achieving human-like dexterity via teleoperation.
Human-Like Dexterous Manipulation for the Anthropomorphic Hand-Arm Robotic System via Teleoperation
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
16.10.2023
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Teleoperation , Anthropomorphic hand-arm robots , Dexterous Manipulation , Force mapping , Motion mapping Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , Computer Science , Special Purpose and Application-Based Systems , User Interfaces and Human Computer Interaction , Computer Communication Networks
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