A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU

• URL: http://arxiv.org/abs/2003.05212v1
• Date: Wed, 11 Mar 2020 10:57:24 GMT
• Title: A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU
• Authors: Shuang Li, Jiaxi Jiang, Philipp Ruppel, Hongzhuo Liang, Xiaojian Ma, Norman Hendrich, Fuchun Sun, Jianwei Zhang
• Abstract summary: We present a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates depth images of paired robot hand poses. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system.
• Score: 25.451864296962288
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates not only joint angles but also depth images of paired robot hand poses through an image-to-image translation process. A keypoint-based reconstruction loss explores the resemblance in appearance and anatomy between human and robotic hands and enriches the local features of reconstructed images. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system. Network evaluation results on a test dataset and a variety of complex manipulation tasks that go beyond simple pick-and-place operations show the efficiency and stability of our multimodal teleoperation system.

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