CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Teleoperation of humanoid Baxter robot using haptic feedback
Long Cheng; Hongbin Ma
2014
Conference Name International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)
Conference Date SEP 28-30, 2014
Conference PlaceBeijing
CountryChina
AbstractThis paper presents a teleoperation strategy, which is featured by haptic feedback. The teleoperation system is composed of a SensAble (R) Omni haptic device, set as the master and providing haptic feedback, and an anthropomorphic robot slave, which is embodied by the 7-DOF (degrees of freedom) robotic arm of the Baxter (R) robot. The haptic feedback enables a bilateral manipulation of the teleoperation system. The joint angles and Cartesian position of the stylus of the Omni device are sampled and transferred to the slave, determining its motion. Meanwhile a force, proportional to the amplitude of position error of the slave manipulator, is sent back to the master and applied to the stylus. Hereby, the operator can sense the motion of the Baxter robot and adjust its manipulator accordingly. The kinematics of the master and slave have been analysed and a workspace mapping has been realized. Two methods, direct angle mapping and CLIK (closed-loop inverse kinematics), are used to implement the manipulation of the slave in position-position mode. Two experiments have been designed and tested to verify the validity of the methods provided by this paper. The results of the experiments illustrate that the designed teleoperation system is feasible and effective.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23141
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Long Cheng,Hongbin Ma. Teleoperation of humanoid Baxter robot using haptic feedback[C],2014.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Long Cheng]'s Articles
[Hongbin Ma]'s Articles
Baidu academic
Similar articles in Baidu academic
[Long Cheng]'s Articles
[Hongbin Ma]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Long Cheng]'s Articles
[Hongbin Ma]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.