Intuitive Teleoperation for Robotic Arms

Video presentation

We present a new method for operating and training robotic arms in remote environments by mimicking the natural motion of human hands.

The operator’s hand pose is captured using a Leap Motion sensor (stereo IR camera) and transmitted to the robot. Two Kinect sensors provide 3D reconstruction feedback of the remote environment to the human operator. Continuous LSPB trajectory planning is used to generate smooth robot arm motion.

Experimental results show that a human can teleoperate the remote robot using intuitive hand motions. The robot is also able to repeat the motions learned during teleoperation.

Publications

• Nguyen Hoang Khoi Tran and Dinh Nguyen Dang, “Robotic Arm Teleoperation System via LAN”, Bachelor’s Thesis, Ho Chi Minh City University of Technology (HCMUT), 2018. Available here.

Citing

If you find this work useful please cite

@thesis{thknguyenddnguyen2018telearm,
  author = {Tran, Nguyen Hoang Khoi and Dang, Dinh Nguyen},
  title  = {Robotic Arm Teleoperation System via LAN},
  school = {Ho Chi Minh City University of Technology (HCMUT)},
  year   = {2018},
  type   = {Bachelor's Thesis}
}