An intuitive human robot interface for tele-operation

Lijun Zhao; Yihuan Liu; Ke Wang; Peidong Liang; Ruifeng Li

doi:10.1109/RCAR.2016.7784072

An intuitive human robot interface for tele-operation

Lijun Zhao
, Yihuan Liu
, Ke Wang
, Peidong Liang
, Ruifeng Li

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	454-459
Number of pages	6
ISBN (Electronic)	9781467389594
DOIs	https://doi.org/10.1109/RCAR.2016.7784072
State	Published - 14 Dec 2016
Event	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Siem Reap, Cambodia Duration: 6 Jun 2016 → 9 Jun 2016

Publication series

Name	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

Conference

Conference	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Country/Territory	Cambodia
City	Siem Reap
Period	6/06/16 → 9/06/16

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10.1109/RCAR.2016.7784072

Cite this

Zhao, L., Liu, Y., Wang, K., Liang, P., & Li, R. (2016). An intuitive human robot interface for tele-operation. In 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 (pp. 454-459). Article 7784072 (2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2016.7784072

@inproceedings{47821b73cd984e6986b312a9b4999657,

title = "An intuitive human robot interface for tele-operation",

abstract = "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.",

author = "Lijun Zhao and Yihuan Liu and Ke Wang and Peidong Liang and Ruifeng Li",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 ; Conference date: 06-06-2016 Through 09-06-2016",

year = "2016",

month = dec,

day = "14",

doi = "10.1109/RCAR.2016.7784072",

language = "英语",

series = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "454--459",

booktitle = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016",

address = "美国",

}

Zhao, L, Liu, Y, Wang, K, Liang, P & Li, R 2016, An intuitive human robot interface for tele-operation. in 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016., 7784072, 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, Institute of Electrical and Electronics Engineers Inc., pp. 454-459, 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, Siem Reap, Cambodia, 6/06/16. https://doi.org/10.1109/RCAR.2016.7784072

An intuitive human robot interface for tele-operation. / Zhao, Lijun; Liu, Yihuan; Wang, Ke et al.
2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 454-459 7784072 (2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An intuitive human robot interface for tele-operation

AU - Zhao, Lijun

AU - Liu, Yihuan

AU - Wang, Ke

AU - Liang, Peidong

AU - Li, Ruifeng

PY - 2016/12/14

Y1 - 2016/12/14

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85010073109

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DO - 10.1109/RCAR.2016.7784072

M3 - 会议稿件

AN - SCOPUS:85010073109

T3 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

SP - 454

EP - 459

BT - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

Y2 - 6 June 2016 through 9 June 2016

ER -

Zhao L, Liu Y, Wang K, Liang P, Li R. An intuitive human robot interface for tele-operation. In 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 454-459. 7784072. (2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016). doi: 10.1109/RCAR.2016.7784072

An intuitive human robot interface for tele-operation

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