Teleoperation of humanoid Baxter robot using haptic feedback
Long Cheng; Hongbin Ma
2014
会议名称 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)
会议日期 SEP 28-30, 2014
会议地点Beijing
会议举办国China
摘要This 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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23141
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Long Cheng,Hongbin Ma. Teleoperation of humanoid Baxter robot using haptic feedback[C],2014.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Long Cheng]的文章
[Hongbin Ma]的文章
百度学术
百度学术中相似的文章
[Long Cheng]的文章
[Hongbin Ma]的文章
必应学术
必应学术中相似的文章
[Long Cheng]的文章
[Hongbin Ma]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。