Coupled Human-machine Tele-manipulation

摘要

Robots are primarily deployed for tasks which are dirty, dull, or dangerous. While the former two are already highly automated, many dangerous tasks such as explosive ordnance disposal or inspection in hazardous environments are predominantly done via tele-operation. Usually, such tasks require the manipulation of objects in a way that cannot be done reliably with automated systems. In this paper, we present a method to tele-operate the manipulator of a robot by transferring the operator's arm movement. The movement is recorded with inertial measurement units which can be sewn into clothing and need no external infrastructure like cameras or motion capture systems. The lack of intermediate user interfaces (e.g. joysticks) makes this control method very intuitive and easy to learn. We demonstrate this with two different NIST manipulation tests and as part of an integrated system for the ELROB robot competition.