DocumentCode :
663641
Title :
Mapping human to robot motion with functional anthropomorphism for teleoperation and telemanipulation with robot arm hand systems
Author :
Liarokapis, Minas V. ; Artemiadis, Panagiotis K. ; Kyriakopoulos, K.J.
Author_Institution :
Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
2075
Lastpage :
2075
Abstract :
In this paper teleoperation and telemanipulation with a robot arm (Mitsubishi PA-10) and a robot hand (DLR/HIT 2) is performed, using a human to robot motion mapping scheme that guarantees anthropomorphism. Two position trackers are used to capture position and orientation of human end-effector (wrist) and human elbow in 3D space and a dataglove to capture human hand kinematics. Then the inverse kinematics (IK) of the Mitsubishi PA-10 7-DoF robot arm are solved in an analytical manner, in order for the human´s and the robot artifact´s end-effectors to achieve same position and orientation in 3D space (functional constraint). Redundancy is handled in the solution space of the robot arm´s IK, selecting the most anthropomorphic solution computed, with a criterion of “Functional Anthropomorphism”. Human hand motion is transformed to robot hand motion using the joint-to-joint mapping methodology. Finally in order for the user to be able to detect contact and “perceive” the forces exerted by the robot hand, a low-cost force feedback device, that provides a mixture of sensory information (visual and vibrotactile), was developed.
Keywords :
anthropology; data gloves; dexterous manipulators; end effectors; force feedback; inverse transforms; manipulator kinematics; redundancy; telerobotics; 3D space; Mitsubishi PA-10 7-DoF robot arm; contact detection; dataglove; force feedback device; functional anthropomorphism; human artifact end-effectors; human elbow orientation; human elbow position; human end-effector orientation; human end-effector position; human hand kinematics; human hand motion transformation; human to robot motion mapping scheme; inverse kinematics; joint-to-joint mapping methodology; position tracker; redundancy; robot arm IK; robot arm hand systems; robot artifact end-effectors; robot hand motion; sensory information mixture; telemanipulation; teleoperation; Anthropomorphism; Conferences; Educational institutions; Kinematics; Robot motion; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696638
Filename :
6696638
Link To Document :
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