NDLI: ROBOPuppet: Low-cost, 3D printed miniatures for teleoperating full-size robots

Content Provider	IEEE Xplore Digital Library
Author	Eilering, A. Franchi, G. Hauser, K.
Copyright Year	2014
Description	Author affiliation: Sch. of Inf. & Comput., Indiana Univ., Bloomington, IN, USA (Eilering, A.; Franchi, G.; Hauser, K.)
Abstract	ROBOPuppet is a method to create inexpensive, tabletop-sized robot models to provide teleoperation input to full-sized robots. It provides a direct physical correspondence from the device to the robot, which is appealing because users form an immediate “mental mapping” of the input-output behavior. We observe that untrained users can immediately exploit tactile and physical intuition when controlling the puppet to perform complex actions the target robot. The key contribution of this paper is a build procedure that embeds standardized encoder modules into scaled-down CAD models of the robot links, which are then 3D printed and assembled. This procedure is generalizable to variety of robots, and parts cost approximately seventeen dollars per link. We also present a simple software tool for fast calibration of the puppet-robot mapping, and a safety filtering procedure that sanitizes the noisy inputs so that the robot avoids collisions and satisfies dynamic constraints. A prototype ROBOPuppet is built for a 6DOF industrial manipulator and tested in simulation and on the physical robot.
Starting Page	1248
Ending Page	1254
File Size	5324554
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942717
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Collision avoidance Assembly Geometry Service robots Educational robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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