This paper introduces a new framework for task space telemanipulation. The TASK space grasping and MANipulation (TaskMan) concept utilizes a library of tasks based on gesture commands, which replaces the conventional mapping required between the human hand and the end effector. Task communication between the human machine interface (HMI) and the robot end effector requires two symbiotic but nonidentical state machines on the master and slave side. The task states on two sides are synchronized via a single channel communication, as opposed to multi-channel joint space or Cartesian mapped information. HAND gesture command for grasping and MANipulation (HandyMan) HMI command algorithm is proposed for the recognition of hand gestures, which incorporates a library of intuitive task gestures to be used by the teleoperator wearing a CyberGlove. The task gestures are used to drive the states of the TaskMan state machines. With the proposed concepts, this work has realized teleoperated grasp and manipulation with a 15-DoF robot hand in task space. Full 6-DoF of object manipulation was achieved with different grasp combinations, and demonstrated higher repeatability, success rate and easier operation compared to conventional joint space teleoperation methods.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Toward a task space framework for gesture commanded telemanipulation


    Beteiligte:
    Lii, Neal Y. (Autor:in) / Chen, Zhaopeng (Autor:in) / Roa, Maximo A. (Autor:in) / Annika, Maier (Autor:in) / Pleintinger, Benedikt (Autor:in) / Borst, Christoph (Autor:in)

    Kongress:


    Erscheinungsdatum :

    01.09.2012


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An Intent-based Task-aware Shared Control Framework for Intuitive Hands Free Telemanipulation

    Bowman, Michael / Zhang, Jiucai / Zhang, Xiaoli | ArXiv | 2020

    Freier Zugriff

    Grasp force control in telemanipulation

    WIKER, STEVEN / DUFFIE, NEIL | AIAA | 1992


    Telemanipulation: System Aspects and Control Issues

    Melchiorri, C. / Eusebi, A. | British Library Conference Proceedings | 1996



    Robust dexterous telemanipulation following object-orientation commands

    Montaño Sarria, Andrés Felipe / Suárez Feijóo, Raúl | BASE | 2017

    Freier Zugriff