Teleoperation has the potential to enable robots to replace humans in high-risk scenarios and catastrophic events, performing manipulation tasks efficiently and securely under human guidance. However, achieving human-like dexterous manipulation remains challenging, particularly for anthropomorphic hand-arm robotic systems with high degrees of freedom. Accurately capturing the operator’s motion and providing real-time intuitive feedback to enhance the sense of telepresence place substantial demands on human-robot perception and interaction. Moreover, the inherent physical and functional differences between anthropomorphic hand-arm robots and humans pose challenges in ensuring the accuracy and reliability of dexterous teleoperation. To overcome these challenges, we present an integrated approach involving an anthropomorphic hand-arm robot system, a wearable motion capture and force feedback system, and a set of motion mapping and force mapping methods. We conducted experiments on both simulation and real-world platforms to evaluate the usability and effectiveness of our proposed approach, with the results demonstrating significant advancements in achieving human-like dexterity via teleoperation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Human-Like Dexterous Manipulation for the Anthropomorphic Hand-Arm Robotic System via Teleoperation


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Huang, Yayu (Autor:in) / Wang, Zhenghan (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Human-Like Dexterous Manipulation for the Anthropomorphic Hand-Arm Robotic System via Teleoperation

    Huang, Yayu / Wang, Zhenghan / Shen, Xiaofei et al. | TIBKAT | 2023


    Design and analysis of an anthropomorphic finger joint for robotic dexterous hand

    Bo, L. / Weidong, G. / Yuru, Z. | British Library Online Contents | 2004


    Vision-based perception for dexterous hand-arm teleoperation

    Li, Shuang / Universität Hamburg / Universität Hamburg, Fakultät für Mathematik, Informatik und Naturwissenschaften et al. | TIBKAT | 2021

    Freier Zugriff

    Towards Anthropomorphic Robotic Paper Manipulation

    Elbrechter, Christof | TIBKAT | 2020