Vision-Driven Tele-Operation for Robot Arm Manipulation

Abstract

Tele-operation augments the robots capability for performing complex tasks in unstructured environments and unfamiliar objects with human support. Herein, we present a vision-based Tele-operation of the KUKA IIWA industrial robot Arm that imitates in real-time the natural motion of the human operator seen from a depth camera. The views of the robot's activities from the cameras on the robot side are provided as visual feedback back to the operator. The proposed methods give efficient operation of robot imitating human motion without using any costly devices like motion capture systems or wearable sensors.