Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms

Author

Perez Quintero, Camilo ; Fomena, Romeo Tatsambon ; Shademan, Azad ; Ramirez, Oscar ; Jagersand, Martin

Author_Institution

Dept. of Comput. Sci., Univ. of Alberta, Edmonton, AB, Canada

fYear

2014

fDate

6-9 May 2014

Firstpage

357

Lastpage

363

Abstract

We propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous image-based visual servoing routine can be triggered for precise positioning. Coarse motions are executed by human teleoperation and fine motions by image-based visual servoing. A successful application of our proposed interaction is presented for a WAM arm equipped with an eye-in-hand camera.

Keywords

human-robot interaction; manipulators; robot vision; telerobotics; visual servoing; WAM arm; autonomous image-based visual servoing; eye-in-hand camera; human teleoperation; interactive semiautonomous control; interactive teleoperation interface; precise positioning; robot arms; tracked human skeleton; Cameras; Joints; Robot kinematics; Tracking; Visual servoing; Human Robot Interaction; Human-in-the-loop; Teleoperation; Visual Servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Robot Vision (CRV), 2014 Canadian Conference on

Conference_Location

Montreal, QC

Print_ISBN

978-1-4799-4338-8

Type

conf

DOI

10.1109/CRV.2014.55

Filename

6816865