Title :
Robot telemanipulation system
Author :
Ciobanu, Vlad ; Popescu, Nirvana ; Petrescu, Alexandru ; Noeske, Martin
Author_Institution :
Fac. of Autom. Control & Comput. Sci., Univ. Politeh. of Bucharest, Bucharest, Romania
Abstract :
The article presents a solution for the teleoperation of a robot hand and arm designed as a complex system that captures human motion and controls the robot into mimicking the human actions. This hybrid system allows the robot execution to be guided by human actions, therefore decreasing the planning complexity and allowing the robot to perform more complex movements and to use the human capacity of adapting to unexpected situations.
Keywords :
dexterous manipulators; image motion analysis; motion control; path planning; robot vision; telerobotics; human actions; human capacity; human motion; planning complexity; robot arm teleoperation; robot execution; robot hand teleoperation; robot telemanipulation system; Joints; Kinematics; Robot sensing systems; Thumb; Wrist;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2013 17th International Conference
Conference_Location :
Sinaia
Print_ISBN :
978-1-4799-2227-7
DOI :
10.1109/ICSTCC.2013.6689039
