Inertial motion capture based reference trajectory generation for a mobile manipulator

Yerbolat Khassanov; Nursultan Imanberdiyev; Huseyin Atakan Varol

doi:10.1145/2559636.2559812

Inertial motion capture based reference trajectory generation for a mobile manipulator

Yerbolat Khassanov, Nursultan Imanberdiyev, Huseyin Atakan Varol

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 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 language	English
Title of host publication	HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction
Publisher	IEEE Computer Society
Pages	202-203
Number of pages	2
ISBN (Print)	9781450326582
DOIs	https://doi.org/10.1145/2559636.2559812
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

Publication series

Name	ACM/IEEE International Conference on Human-Robot Interaction
ISSN (Electronic)	2167-2148

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

Keywords

Inertial motion capture
Mobile manipulator
Remote manipulation
Teleoperation

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Electrical and Electronic Engineering

Access to Document

10.1145/2559636.2559812

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Cite this

Khassanov, Y., Imanberdiyev, N., & Varol, H. A. (2014). Inertial motion capture based reference trajectory generation for a mobile manipulator. In HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction (pp. 202-203). (ACM/IEEE International Conference on Human-Robot Interaction). 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.

HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society, 2014. p. 202-203 (ACM/IEEE International Conference on Human-Robot Interaction).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Khassanov, Y, Imanberdiyev, N & Varol, HA 2014, Inertial motion capture based reference trajectory generation for a mobile manipulator. in HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction. 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 HRI 2014 - Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society. 2014. p. 202-203. (ACM/IEEE International Conference on Human-Robot Interaction). https://doi.org/10.1145/2559636.2559812

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