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This paper presents the development of new Humanoid Robot Control Architecture (HRCA) platform based on Common Object Request Broker Architecture (CORBA) in a developmental biped humanoid robot for real‐time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the...
Citations
... Robotic arm, a result of multidisciplinary integration, is widely used in many fields such as national defense and industry, which can, to some extent, replace manpower to undertake risky tasks [1]. Various robots designed to be operated in extreme environment including radioactive pollution areas, aerospace and coal mines, which is usually controlled remotely have been widely used to reduce the risk of manpower and conduct complex and precise operations [2]. Some humanrobot interfaces like joysticks, dials and robot replicas [3], have been commonly used, and these contacting mechanical devices require unnatural hand and arm motions to complete a teleoperation task [4]. ...
This paper deals with the man-machine interaction of robotic arm teleoperation by the developed Kinect and first-person-perspective follow-up technologies. Kinect is used to collect and preprocess the depth information to determine the hand position vector. With the help of the virtual robotic arm set up by Processing, the relationship between the hand and shoulder is mapped to the one between the robotic arm's chassis and its gripper, then it can be output to the Arduino lower computer, so that the corresponding motion of the robotic arm is controlled. The first-person-perspective follow-up obtains the position information of the head by the positioning chip fixed on the VR glasses. After data transmission and processing, the angles of pantilt platform, i.e., the pitch and yaw angle of the camera, are changed to keep the orientation of the camera consistent with the user’s eyes. The VR glasses provide real-time view of the first-person perspective. Compared with the existing ones, the proposed teleoperating robotic arm enhanced by Kinect and binocular camera has the advantages of better immersion experience and intuitive operation.
... Scientists take this into account and tend to program robots in such a way that the main target is to assist humans and make everyday life easier. Some human-robot interfaces like joysticks, dials and robot replicas, have been commonly used, but these contacting mechanical devices require unnatural arm motions to complete an operation task [2] [3]. Another way to communicate complex motions to a robot, which is more natural, is to track the operator arm motion which is used to complete the required task using contacting electromagnetic tracking sensors, inertial sensors and gloves instrumented with angle sensors. ...
This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user’s both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).
... In particular, when the single support polygon is small, it results in a robot system that resembles a highly unstable inverted pendulum. For the walking bipedal robot to remain stable, an appropriate new control algorithm has to be developed [1][2][3]. ...
A novel control algorithm for the foot placement of walking bipedal robots is proposed which can output the optimal step time and step location to obtain a desired walking gait from every feasible robot state. The step time and step location are determined by approximating the robot dynamics with the 3D linear inverted pendulum model and analytically solving the constraint equations. Intensive simulation studies are conducted to check the validity of the theoretical results. The results of this study show that the proposed control algorithm can get the system to a desired gait cycle from every feasible state within a finite number of steps.
... Furthermore, when the robot is in a dangerous environment, robot teleoperation may be necessary. Some human-robot interfaces (Yussof et al. [1]; Mitsantisuk et al. [2]) like joysticks, dials and robot replicas, have been commonly used, but these contacting mechanical devices require unnatural hand and arm motions to complete a teleoperation task. ...
This paper presents a real-time remote robot teleoperation method using markerless Kinect-based hand tracking. Using this tracking algorithm, the positions of index finger and thumb in 3D can be estimated by processing depth images from Kinect. The hand pose is used as a model to specify the pose of a real-time remote robot's end-effector. This method provides a way to send a whole task to a remote robot instead of sending limited motion commands like gesture-based approaches and this method has been tested in pick-and-place tasks.
This paper presents a new distributed real- Time simulation architecture based on Data Distribution Service (DDS) for space robotic tele-operation tasks. The objective of this paper is to make the simulation architecture open for collaborative tele-operation research and provide the operator an intuitive view of space robotic tele-operation in a wide set of scenarios. The mission profile and background of space robotic tele-operation are firstly recalled. Within this context, a closer look into RACOON (Real- Time Attitude Control and On-Orbit Navigation) system overall design and simulation environment are described. Secondly, the detailed characters of DDS, including DDS specification and its core idea of data distribution, are exhibited. Thirdly, RacoonSim system, which comprises multi-body dynamics, autonomous mission management (AMM), path & trajectory planning and control subsystems of space manipulator, is introduced. Additionally, a user-friendly Virtually Reality (VR) user interface for coexistence of working operator and space robot is developed, which is composed of 3D space mouse, joystick and Head-Up Display (HUD) as part of the Mission Control Center (MCC). Well-designed system architecture makes the Hardware-in-loop (HIL) simulation possible and can be extended easily in the future. The experiments particularly demonstrate the effectiveness and feasibility of the proposed simulation system architecture.
