Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace

02/12/2018
by   Cassie Meeker, et al.
0

Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for teleoperation subspaces to effectively and intuitively enable teleoperation. In experiments, novice users completed pick and place tasks significantly faster using teleoperation subspace mapping than they did using state of the art teleoperation methods.

READ FULL TEXT

page 4

page 5

research
09/25/2018

EMG-Controlled Hand Teleoperation Using a Continuous Teleoperation Subspace

We present a method for EMG-driven teleoperation of non-anthropomorphic ...
research
11/21/2019

A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands

Teleoperation is a valuable tool for robotic manipulators in highly unst...
research
05/11/2019

Comparing Alternate Modes of Teleoperation for Constrained Tasks

Teleoperation of heavy machinery in industry often requires operators to...
research
08/26/2020

Leveraging Kernelized Synergies on Shared Subspace for Precision Grasp and Dexterous Manipulation

Manipulation in contrast to grasping is a trajectorial task that needs t...
research
10/04/2021

Discovering Synergies for Robot Manipulation with Multi-Task Reinforcement Learning

Controlling robotic manipulators with high-dimensional action spaces for...
research
02/28/2023

Continuous interaction with a smart speaker via low-dimensional embeddings of dynamic hand pose

This paper presents a new continuous interaction strategy with visual fe...
research
10/22/2017

Exploiting generalization in the subspaces for faster model-based learning

Due to the lack of enough generalization in the state-space, common meth...

Please sign up or login with your details

Forgot password? Click here to reset