Interactive Teleoperation Interface for Semi-Autonomous Control of Robot Arms

被引：4

作者：

Quintero, Camilo Perez ^{[1
]}

Fomena, Romeo Tatsambon ^{[1
]}

Shademan, Azad ^{[1
]}

Ramirez, Oscar ^{[1
]}

Jagersand, Martin ^{[1
]}

机构：

[1] Univ Alberta, Dept Comp Sci, Edmonton, AB T6G 2E8, Canada

来源：

2014 CANADIAN CONFERENCE ON COMPUTER AND ROBOT VISION (CRV) | 2014年

关键词：

D O I：

10.1109/CRV.2014.55

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous image-based visual servoing routine can be triggered for precise positioning. Coarse motions are executed by human teleoperation and fine motions by image-based visual servoing. A successful application of our proposed interaction is presented for a WAM arm equipped with an eye-in- hand camera.

引用

页码：357 / 363

页数：7

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