A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests

11/04/2020
by   Sunyu Wang, et al.
0

Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely have identical topologies and dimensions. This work presents an experimental study that utilizes reaction tests to compare the proposed joint space mapping and the proposed task space mapping for dynamic teleoperation of an anthropomorphic robotic arm that possesses human-level dynamic motion capabilities. The experimental results suggest that the robot achieved similar and, in some cases, human-level dynamic performances with both mappings for the six participating human subjects. All subjects became proficient at teleoperating the robot with both mappings after practice, despite that the subjects and the robot differed in size and link length ratio and that the teleoperation required the subjects to move unintuitively. Yet, most subjects developed their teleoperation proficiencies more quickly with the task space mapping than with the joint space mapping after similar amounts of practice. This study also indicates the potential values of a three-dimensional task space mapping, a teleoperation training simulator, and force feedback to the human pilot for intuitive and dynamic teleoperation of a humanoid robot's arms.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 4

page 6

09/08/2021

Dynamic Locomotion Teleoperation of a Wheeled Humanoid Robot Reduced Model with a Whole-Body Human-Machine Interface

Bilateral teleoperation provides humanoid robots with human planning int...
02/22/2022

Communicating Robot Conventions through Shared Autonomy

When humans control robot arms these robots often need to infer the huma...
07/22/2020

Learning User-Preferred Mappings for Intuitive Robot Control

When humans control drones, cars, and robots, we often have some preconc...
03/07/2022

Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation

Robotic systems that can dynamically combine manipulation and locomotion...
02/19/2020

Task-space Synergies for Reaching using Upper-limb Prostheses

Synergistic prostheses enable the coordinated movement of the human-pros...
04/13/2021

Trimanipulation: Evaluation of human performance in a 3-handed coordination task

Many teleoperation tasks require three or more tools working together, w...
07/17/2020

Task-oriented Motion Mapping on Robots of Various Configuration using Body Role Division

Many works in robot teaching either focus on teaching a high-level abstr...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.