TY - GEN
T1 - Inertial motion capture based reference trajectory generation for a mobile manipulator
AU - Khassanov, Yerbolat
AU - Imanberdiyev, Nursultan
AU - Varol, Huseyin Atakan
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
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
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U2 - 10.1145/2559636.2559812
DO - 10.1145/2559636.2559812
M3 - Conference contribution
AN - SCOPUS:84896932406
SN - 9781450326582
T3 - ACM/IEEE International Conference on Human-Robot Interaction
SP - 202
EP - 203
BT - HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction
PB - IEEE Computer Society
T2 - 9th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2014
Y2 - 3 March 2014 through 6 March 2014
ER -