A RGB-D Camera-Based Approach for Robot Arm-Hand Teleoperated Control |
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| Francesca Cordella, Loredana Zollo, Eugenio Guglielmelli |
- Abstract:
- In this paper a master-slave teleoperation system is proposed for reach-and-grasp operations in hazardous environments. A RGB-D camera and a robust marker-based Bayesian estimation method is proposed for tracking the human hand joint positions on the master side. Accuracy and repeatability of the estimation algorithm have been measured through the comparison with the data acquired through optoelectronic system. An anthropomorphic arm-hand robotic system is used on the slave side. The human operator can select the robot working area and the type of grasp action through finger motion. On the other hand, the human wrist motion is mapped into the robot workspace in order to teleoperate the robot end effector during the reaching phase. The optimal robot grasp configuration is automatically performed by the slave robot through a grasp synthesis algorithm previously proposed by the authors. The proposed approach has been experimentally validated on the KUKA LWR 4+ robot arm and the DLR-HIT Hand II.
- Keywords:
- Tele-operated control, Human to robot motion mapping, Hand position estimation, Arm-hand robotic system
- Download:
- IMEKO-TC4-2014-392.pdf
- DOI:
- -
- Event details
- IMEKO TC:
- TC4
- Event name:
- TC4 Symposium 2014
- Title:
20th IMEKO TC4 Symposium on Measurements of Electrical Quantities (together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC)
"Research on Electrical and Electronic Measurement for the Economic Upturn"- Place:
- Benevento, ITALY
- Time:
- 15 September 2014 - 17 September 2014