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

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 languageEnglish
Title of host publicationHRI 2014 - Proceedings of the 2014 ACM/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

Publication series

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

Other

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

Keywords

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

ASJC Scopus subject areas

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

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