NDLI: A data-driven method for determining natural human-robot motion mappings in teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Pierce, R.M. Kuchenbecker, K.J.
Copyright Year	2012
Description	Author affiliation: Haptics Group of the GRASP Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania (Pierce, R.M.; Kuchenbecker, K.J.)
Abstract	Though many aspects of teleoperation systems have been fine-tuned through research, the mapping between the operator's movement and the robot's movement is almost always pre-defined as a simple scaling and offset. We believe that implementing nontraditional data-driven motion mappings has the potential to further improve the usability of teleoperation platforms, making it easier for a human to remotely complete challenging tasks. This paper presents a new paradigm for determining data-driven human-robot motion mappings for teleoperation: the human operator mimics the target robot as it autonomously moves its arm through a variety of trajectories. We analyze the resulting motion data to find the human's chosen mapping combined with the systematic errors the human made when relying on proprioception to execute these arm movements. We report results from a study in which nine human subjects repeatedly mimicked the planar arm motions of a simulated PR2. We propose three nontraditional motion mappings (similarity, affine, and variable similarity), and we fit each of the proposed models to these data sets, verifying within and across trials and subjects. As hypothesized, the newly proposed mappings are found to outperform the traditional motion mapping model.
Starting Page	169
Ending Page	176
File Size	1571736
Page Count	8
File Format	PDF
ISBN	9781457711992
ISSN	21551774
e-ISBN	9781457712005
DOI	10.1109/BioRob.2012.6290927
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Systematics Robot kinematics Humans Data models Trajectory
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms

Compact models of human reaching motions for robotic control in everyday manipulation tasks

Controlling redundant robot arm-trunk systems for human-like reaching motion

Shared autonomy in a robot hand teleoperation system

Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Data Driven Models for Human Motion Prediction in Human-Robot Collaboration

A system of robot mobile manipulation based on teleoperation with human motion capture

A new method for Direct and point-to-point robot trajectory planning in narrow spaces

Robot teleoperation using a vision-based manipulation method

A data-driven method for determining natural human-robot motion mappings in teleoperation

Similar Documents

A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms

Compact models of human reaching motions for robotic control in everyday manipulation tasks

Controlling redundant robot arm-trunk systems for human-like reaching motion

Shared autonomy in a robot hand teleoperation system

Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Data Driven Models for Human Motion Prediction in Human-Robot Collaboration

A system of robot mobile manipulation based on teleoperation with human motion capture

A new method for Direct and point-to-point robot trajectory planning in narrow spaces

Robot teleoperation using a vision-based manipulation method

A data-driven method for determining natural human-robot motion mappings in teleoperation