C. P. Quintero, R. T. Fomena, A. Shademan, Oscar A. Ramirez, Martin Jägersand
{"title":"机器人手臂半自主控制的交互式遥操作界面","authors":"C. P. Quintero, R. T. Fomena, A. Shademan, Oscar A. Ramirez, Martin Jägersand","doi":"10.1109/CRV.2014.55","DOIUrl":null,"url":null,"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.","PeriodicalId":385422,"journal":{"name":"2014 Canadian Conference on Computer and Robot Vision","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms\",\"authors\":\"C. P. Quintero, R. T. Fomena, A. Shademan, Oscar A. Ramirez, Martin Jägersand\",\"doi\":\"10.1109/CRV.2014.55\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":385422,\"journal\":{\"name\":\"2014 Canadian Conference on Computer and Robot Vision\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 Canadian Conference on Computer and Robot Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CRV.2014.55\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Canadian Conference on Computer and Robot Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CRV.2014.55","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms
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.