An intuitive human robot interface for tele-operation

摘要

This paper proposed an intuitive human robot interface for real-time tele-operation, where human operator can operate the Baxter robot to implement complicated tasks in unstructured and uncertain environment intuitively and efficiently. Firstly, In this paper a new method for building an human robot interaction interface is proposed. In addition, workspace mapping between master and slave manipulator is a key problem of human robot interaction (HRI) when there are huge difference in size and structure of human and robot's manipulators. So, the workspace mapping method between human arm and Baxter Robot manipulator and the inverse kinematics approach for solving 7-DOF redundant manipulator by using Kinect sensor were also discussed in detail. In the end, an experiment was employed to validate the performance of proposed interface.