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Toward a task space framework for gesture commanded telemanipulation

Lii, Neal Y. and Chen, Zhaopeng and Roa, Maximo A. and Annika, Maier and Pleintinger, Benedikt and Borst, Christoph (2012) Toward a task space framework for gesture commanded telemanipulation. 21st IEEE International Symposium on Robot and Human Interactive Communication - RoMan 2012, Paris, France.



This paper introduces a new framework for task space telemanipulation. The TASK space grasping and MANipulation (TaskMan) concept utilizes a library of tasks based on gesture commands, which replaces the conventional mapping required between the human hand and the end effector. Task communication between the human machine interface (HMI) and the robot end effector requires two symbiotic but nonidentical state machines on the master and slave side. The task states on two sides are synchronized via a single channel communication, as opposed to multi-channel joint space or Cartesian mapped information. HAND gesture command for grasping and MANipulation (HandyMan) HMI command algorithm is proposed for the recognition of hand gestures, which incorporates a library of intuitive task gestures to be used by the teleoperator wearing a CyberGlove. The task gestures are used to drive the states of the TaskMan state machines. With the proposed concepts, this work has realized teleoperated grasp and manipulation with a 15-DoF robot hand in task space. Full 6-DoF of object manipulation was achieved with different grasp combinations, and demonstrated higher repeatability, success rate and easier operation compared to conventional joint space teleoperation methods.

Item URL in elib:https://elib.dlr.de/80480/
Document Type:Conference or Workshop Item (Paper)
Additional Information:Winner CoTeSys Cognitive Human-Robot Interaction Best Paper Award
Title:Toward a task space framework for gesture commanded telemanipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Roa, Maximo A.Maximo.RoaGarzon (at) dlr.deUNSPECIFIED
Annika, Maierannika.maier (at) dlr.deUNSPECIFIED
Pleintinger, Benediktbenedikt.pleintinger (at) dlr.deUNSPECIFIED
Borst, Christophchristoph.borst (at) dlr.deUNSPECIFIED
Date:September 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 925-932
Keywords:Task space manipulation, Robot teleoperation, in-hand manipulation, gesture commanded robot manipulation
Event Title:21st IEEE International Symposium on Robot and Human Interactive Communication - RoMan 2012
Event Location:Paris, France
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik- Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Lii, Neal Yi-Sheng
Deposited On:11 Jan 2013 14:41
Last Modified:31 Jul 2019 19:39

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