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  Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator

Ha, C.-S., Park, S., Her, J., Jang, I., Lee, Y., Cho, G., et al. (2015). Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator. In IEEE International Conference on Robotics and Automation (ICRA 2015) (pp. 164-170). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-002A-467A-A Version Permalink: https://hdl.handle.net/21.11116/0000-0000-80BC-B
Genre: Conference Paper

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http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=arnumber=7138995 (Publisher version)
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 Creators:
Ha, C-S, Author
Park, S, Author
Her, J, Author
Jang, I, Author
Lee, Y, Author
Cho, GR, Author
Son, HI1, Author           
Lee, D, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile manipulator to optimally track the operator's whole-body command, while taking into account the user-slave kinematic dissimilarity (slave robot's joint limit, joint velocity limit, and singularity); and 3) Visuo-haptic-vestibular feedback with HMD (Head Mounted Display) for 3D visual information, wearable cutaneous haptic device for manipulation force feedback, and actuated chair for vestibular feedback to reduce HMD-induced motion sickness. Performance of the proposed framework is validated with simulation of a ROV (remotely operated vehicle) manipulator system and some preliminary user studies.

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 Dates: 2015-05
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ICRA.2015.7138995
BibTex Citekey: HaPHJLCSL2015
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Title: IEEE International Conference on Robotics and Automation (ICRA 2015)
Place of Event: Seattle, WA, USA
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Title: IEEE International Conference on Robotics and Automation (ICRA 2015)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 164 - 170 Identifier: ISBN: 978-1-4799-6923-4