Inertial motion capture based reference trajectory generation for a mobile manipulator

Yerbolat Khassanov, Nursultan Imanberdiyev, Huseyin Atakan Varol

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    This paper presents a human-robot interaction system integrating a mobile manipulator with a full-body inertial motion capture suit. The framework aims to provide an intuitive, effective and easy-to-deploy teleoperation interface. User control intent is acquired by the motion capture system in real-time, processed and relayed to the mobile manipulator wirelessly. Specifically, body center of mass and the right hand kinematic data of the user are used to generate position and orientation references for the robot base and manipulator, respectively. The left arm is employed to provide high-level user commands such as "Manipulator On/Off", "Base On/Off" and "Manipulator Pause/Resume". The efficacy of the presented system was demonstrated in real-time teleoperation experiments using KUKA youBot mobile manipulator accomplishing pick-and-place tasks.

    Original languageEnglish
    Title of host publicationACM/IEEE International Conference on Human-Robot Interaction
    PublisherIEEE Computer Society
    Pages202-203
    Number of pages2
    ISBN (Print)9781450326582
    DOIs
    Publication statusPublished - 2014
    Event9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014 - Bielefeld, Germany
    Duration: Mar 3 2014Mar 6 2014

    Other

    Other9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014
    CountryGermany
    CityBielefeld
    Period3/3/143/6/14

    Fingerprint

    Manipulators
    Trajectories
    Remote control
    Human robot interaction
    Kinematics
    Robots
    Experiments

    Keywords

    • Inertial motion capture
    • Mobile manipulator
    • Remote manipulation
    • Teleoperation

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

    Cite this

    Khassanov, Y., Imanberdiyev, N., & Varol, H. A. (2014). Inertial motion capture based reference trajectory generation for a mobile manipulator. In ACM/IEEE International Conference on Human-Robot Interaction (pp. 202-203). IEEE Computer Society. https://doi.org/10.1145/2559636.2559812

    Inertial motion capture based reference trajectory generation for a mobile manipulator. / Khassanov, Yerbolat; Imanberdiyev, Nursultan; Varol, Huseyin Atakan.

    ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society, 2014. p. 202-203.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Khassanov, Y, Imanberdiyev, N & Varol, HA 2014, Inertial motion capture based reference trajectory generation for a mobile manipulator. in ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society, pp. 202-203, 9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014, Bielefeld, Germany, 3/3/14. https://doi.org/10.1145/2559636.2559812
    Khassanov Y, Imanberdiyev N, Varol HA. Inertial motion capture based reference trajectory generation for a mobile manipulator. In ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society. 2014. p. 202-203 https://doi.org/10.1145/2559636.2559812
    Khassanov, Yerbolat ; Imanberdiyev, Nursultan ; Varol, Huseyin Atakan. / Inertial motion capture based reference trajectory generation for a mobile manipulator. ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society, 2014. pp. 202-203
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