Intuitive User Interfaces for Mobile Manipulation Tasks

• Autorzy: Zubrycki I. , Granosik G.

Identyfikatory

DOI

10.1431/JAMRIS_1-2015/6

• Języki publikacji: EN

Abstrakty

EN

This article describes interactive methods that can ease difficult manipulation tasks in Search & Rescue operations. We discuss the requirements that are necessary for a telemanipulation system to be successfully used. These include not just correctness of generated motion but also ergonomy, mobility and interactivity of the operator’s interface. We show that grippers with one or more degrees of freedom can be intuitively controlled by different interface mechanisms, supported by 3D vision systems. Tests are performed both in the simulation environment and with real grippers. A practical pipeline for a direct control and learning the system is also presented.

Słowa kluczowe

EN

Intefraces; human-robot interaction; ROS; Vision Systems

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 1
• Strony: 41--52
• Opis fizyczny: Bibliogr. 49 poz., rys.

Twórcy

autor

Zubrycki I.

• Lodz University of Technology, Stefanowskiego 18/22, 90-924 Lodz, www.robotyka.p.lodz.pl

autor

Granosik G.

• Lodz University of Technology, Stefanowskiego 18/22, 90-924 Lodz, www.robotyka.p.lodz.pl.

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