Title :
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
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;
Conference_Titel :
Computer and Robot Vision (CRV), 2014 Canadian Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4799-4338-8
DOI :
10.1109/CRV.2014.55
