Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile 
Manipulator

Ha, C-S; Park, S; Her, J; Jang, I; Lee, Y; Cho, GR; Son, HI; Lee, D

doi:10.1109/ICRA.2015.7138995

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Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator

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Son, HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=arnumber=7138995
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Zitation

Ha, C.-S., Park, S., Her, J., Jang, I., Lee, Y., Cho, G., et al. (2015). Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator. In IEEE International Conference on Robotics and Automation (ICRA 2015) (pp. 164-170). Piscataway, NJ, USA: IEEE.

Zitierlink: https://hdl.handle.net/11858/00-001M-0000-002A-467A-A

Zusammenfassung

We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile manipulator to optimally track the operator's whole-body command, while taking into account the user-slave kinematic dissimilarity (slave robot's joint limit, joint velocity limit, and singularity); and 3) Visuo-haptic-vestibular feedback with HMD (Head Mounted Display) for 3D visual information, wearable cutaneous haptic device for manipulation force feedback, and actuated chair for vestibular feedback to reduce HMD-induced motion sickness. Performance of the proposed framework is validated with simulation of a ROV (remotely operated vehicle) manipulator system and some preliminary user studies.