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 language | English |
|---|---|
| Title of host publication | ACM/IEEE International Conference on Human-Robot Interaction |
| Publisher | IEEE Computer Society |
| Pages | 202-203 |
| Number of pages | 2 |
| ISBN (Print) | 9781450326582 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014 - Bielefeld, Germany Duration: Mar 3 2014 → Mar 6 2014 |
Other
| Other | 9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014 |
|---|---|
| Country | Germany |
| City | Bielefeld |
| Period | 3/3/14 → 3/6/14 |
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Keywords
- Inertial motion capture
- Mobile manipulator
- Remote manipulation
- Teleoperation
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Inertial motion capture based reference trajectory generation for a mobile manipulator
AU - Khassanov, Yerbolat
AU - Imanberdiyev, Nursultan
AU - Varol, Huseyin Atakan
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
KW - Inertial motion capture
KW - Mobile manipulator
KW - Remote manipulation
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84896932406&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84896932406&partnerID=8YFLogxK
U2 - 10.1145/2559636.2559812
DO - 10.1145/2559636.2559812
M3 - Conference contribution
SN - 9781450326582
SP - 202
EP - 203
BT - ACM/IEEE International Conference on Human-Robot Interaction
PB - IEEE Computer Society
ER -