Motion-Based Control Interface for Intuitive and Efficient Teleoperation of Construction Robots
Motion-Based Control Interface for Intuitive and Efficient Teleoperation of Construction Robots
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DOI：
10.1061/9780784485224.057
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发表时间：
2024-01
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影响因子：
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通讯作者：
Usman Rasheed;Xiaoyun Liang;Jiannan Cai;Shuai Li;Yuqing Hu
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作者：
Usman Rasheed;Xiaoyun Liang;Jiannan Cai;Shuai Li;Yuqing Hu
机器人遥操作被认为是一种很有前途的方法，可以帮助工人进行施工活动，同时避免潜在的危险条件。然而，传统的遥操作系统的控制接口依赖于物理设备，如键盘和操纵杆，输入控制命令，这不能直观地映射到机器人的运动，从而影响非专家用户的遥操作性能。在这项研究中，我们提出了一种新的人机接口映射人类手臂运动的机器人手臂运动直观的遥操作。首先，通过运动捕捉系统OptiTrack对人体手臂进行实时跟踪。然后，3D位置数据被传输到机器人操作系统（ROS），并用于MoveIt中机器人手臂的运动规划。最后，通过机器人仿真的遥控取放任务中的接口进行了演示，并将所开发的框架的可用性进行了比较，一个基于指针的遥操作系统。
Robotic teleoperation is regarded as a promising method of assisting workers in performing construction activities while avoiding potentially dangerous conditions. However, the control interface of conventional teleoperation systems relies on physical devices, such as a keyboard and joystick, to input control commands, which cannot be intuitively mapped to robot movement, and thus affecting the teleoperation performance of non-expert users. In this research, we present a novel human-robot interface to map human arm movement to robotic arm motion for intuitive teleoperation. Firstly, the human arm is tracked in real-time through a motion capturing system, that is, OptiTrack. The 3D location data is then streamed to robot operating system (ROS) and is used for motion planning of the robotic arm in MoveIt. Finally, the interface is demonstrated in a teleoperated pick-and-place task through robotic simulation, and the usability of the developed framework is compared to that of a joystick-based teleoperation system.