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.


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    Title :

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


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Huang, Yayu (author) / Wang, Zhenghan (author)

    Conference:

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



    Publication date :

    2023-10-16


    Size :

    13 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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