nach oben

Erschienen in:

2019 | OriginalPaper | Buchkapitel

Intuitive Bare-Hand Teleoperation of a Robotic Manipulator Using Virtual Reality and Leap Motion

verfasst von : Inmo Jang, Joaquin Carrasco, Andrew Weightman, Barry Lennox

Erschienen in: Towards Autonomous Robotic Systems

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

Despite various existing works on intuitive human-robot interaction (HRI) for teleoperation of robotic manipulators, to the best of our knowledge, the following research question has not been investigated yet: Can we have a teleoperated robotic manipulator that simply copies a human operator’s bare hand posture and gesture in a real-time manner without having any hand-held devices? This paper presents a novel teleoperation system that attempts to address this question. Firstly, we detail how to set up the system practically by using a Universal Robots UR5, a Robotiq 3-finger gripper, and a Leap Motion based on Unity and ROS, and describe specifically what information is communicated between each other. Furthermore, we provide the details of the ROS nodes developed for controlling the robotic arm and gripper, given the information of a human’s bare hands sensed by the Leap Motion. Then, we demonstrate our system executing a simple pick-and-place task, and discuss possible benefits and costs of this HRI concept.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel Mobile Robot Trajectory Analysis with the Help of Vision System

Nächstes Kapitel A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics

https://github.com/siemens/ros-sharp/.

See comparison in https://youtu.be/7HnfG0a6Gfg.

https://leapmotion.github.io/UnityModules/interaction-engine.html.

https://gallery.leapmotion.com/detection-example/.

https://github.com/ros-industrial/universal_robot.

https://github.com/ros-industrial/robotiq.

https://github.com/ros-industrial/ur_modern_driver.

The URScript Programming Language, ver 3.5.4, April 12, 2018.

http://wiki.ros.org/ur_kin_py.

Watch also the video: https://youtu.be/lu-0yrl9J5g.

https://www.ultrahaptics.com/products-programs/.

Allspaw, J., Roche, J., Lemiesz, N., Yannuzzi, M., Yanco, H.A.: Remotely teleoperating a humanoid robot to perform fine motor tasks with virtual reality. In: Waste Management Symposium (WM 2018), Phoenix, AZ (2018)

Cancedda, L., Cannavò, A., Garofalo, G., Lamberti, F., Montuschi, P., Paravati, G.: Mixed reality-based user interaction feedback for a hand-controlled interface targeted to robot teleoperation. In: De Paolis, L.T., Bourdot, P., Mongelli, A. (eds.) AVR 2017. LNCS, vol. 10325, pp. 447–463. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-60928-7_38CrossRef

Chae, J., Jin, Y., Sung, Y., Cho, K.: Genetic algorithm-based motion estimation method using orientations and EMGs for robot controls. Sensors 18(2), 183 (2018). https://doi.org/10.3390/s18010183CrossRef

Chen, S., Ma, H., Yang, C., Fu, M.: Hand gesture based robot control system using leap motion. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds.) ICIRA 2015. LNCS (LNAI), vol. 9244, pp. 581–591. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-22879-2_53CrossRef

Crick, C., Jay, G., Osentoski, S., Pitzer, B., Jenkins, O.C.: Rosbridge: ROS for non-ROS users. Springer Tracts Adv. Robot. 100, 493–504 (2017)CrossRef

Hawkins, K.P.: Analytic inverse kinematics for the universal robots UR-5/UR-10 arms. Technical report, Georgia Institute of Technology (2013). https://smartech.gatech.edu/bitstream/handle/1853/50782/ur_kin_tech_report_1.pdf

Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: an historical survey. Automatica 42(12), 2035–2057 (2006). https://doi.org/10.1016/j.automatica.2006.06.027MathSciNetCrossRefMATH

Jin, H., Chen, Q., Chen, Z., Hu, Y., Zhang, J.: Multi-LeapMotion sensor based demonstration for robotic refine tabletop object manipulation task. CAAI Trans. Intell. Technol. 1(1), 104–113 (2016). https://doi.org/10.1016/j.trit.2016.03.010. https://linkinghub.elsevier.com/retrieve/pii/S2468232216000111CrossRef

Krupke, D., Einig, L., Langbehn, E., Zhang, J., Steinicke, F.: Immersive remote grasping: realtime gripper control by a heterogenous robot control system. In: Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST 02–04-Nove, pp. 337–338 (2016). https://doi.org/10.1145/2993369.2996345

10.

Kruusamae, K., Pryor, M.: High-precision telerobot with human-centered variable perspective and scalable gestural interface. In: Proceedings - 2016 9th International Conference on Human System Interactions, HSI 2016, pp. 190–196 (2016). https://doi.org/10.1109/HSI.2016.7529630

11.

Li, C., Yang, C., Wan, J., Annamalai, A.S.S., Cangelosi, A.: Teleoperation control of Baxter robot using Kalman filter-based sensor fusion. Syst. Sci. Control Eng. 5(1), 156–167 (2017). https://doi.org/10.1080/21642583.2017.1300109CrossRef

12.

Lipton, J.I., Fay, A.J., Rus, D.: Baxter’s homunculus: virtual reality spaces for teleoperation in manufacturing. IEEE Robot. Autom. Lett. 3(1), 179–186 (2018). https://doi.org/10.1109/LRA.2017.2737046CrossRef

13.

Makris, S., et al.: Dual arm robot in cooperation with humans for flexible assembly. CIRP Ann. 66(1), 13–16 (2017). https://doi.org/10.1016/j.cirp.2017.04.097CrossRef

14.

Nuño, E., Basañez, L., Ortega, R.: Passivity-based control for bilateral teleoperation: A tutorial. Automatica 47(3), 485–495 (2011). https://doi.org/10.1016/j.automatica.2011.01.004MathSciNetCrossRefMATH

15.

Pancake, D., et al.: A novel and cost effective approach to the decommissioning and decontamination of legacy glove boxes - minimizing TRU waste and maximizing LLW waste - 13634. In: Waste Management Symposium (WM 2013), Phoenix, AZ (2013)

16.

Peppoloni, L., Brizzi, F., Avizzano, C.A., Ruffaldi, E.: Immersive ROS-integrated framework for robot teleoperation. In: 2015 IEEE Symposium on 3D User Interfaces (3DUI), pp. 177–178. IEEE, March 2015. https://doi.org/10.1109/3DUI.2015.7131758

17.

Roldán, J.J., et al.: Multi-robot systems, virtual reality and ros: developing a new generation of operator interfaces. In: Koubaa, A. (ed.) Robot Operating System (ROS). SCI, vol. 778, pp. 29–64. Springer, Cham (2019). https://doi.org/10.1007/978-3-319-91590-6_2CrossRef

18.

Tang, G., Webb, P.: The design and evaluation of an ergonomic contactless gesture control system for industrial robots. J. Robot. (2018). https://doi.org/10.1155/2018/9791286CrossRef

19.

Whitney, D., Rosen, E., Phillips, E., Konidaris, G., Tellex, S.: Comparing robot grasping teleoperation across desktop and virtual reality with ROS reality. In: International Symposium on Robotics Research, pp. 1–16 (2017)

Titel: Intuitive Bare-Hand Teleoperation of a Robotic Manipulator Using Virtual Reality and Leap Motion
verfasst von: Inmo Jang
Joaquin Carrasco
Andrew Weightman
Barry Lennox
Verlag: Springer International Publishing
Buch: Towards Autonomous Robotic Systems
Print ISBN: 978-3-030-25331-8

Electronic ISBN: 978-3-030-25332-5

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-030-25332-5_25

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partner