Vision-Driven Tele-Operation for Robot Arm Manipulation

Sharma, H and Yadav, RK and Amrutur, PB (2022) Vision-Driven Tele-Operation for Robot Arm Manipulation. In: 7th International Conference on Robotics and Automation Engineering, ICRAE 2022, 18-20 November 2022, Singapore, pp. 123-129.

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Abstract

Tele-operation augments the robots capability for performing complex tasks in unstructured environments and unfamiliar objects with human support. Herein, we present a vision-based Tele-operation of the KUKA IIWA industrial robot Arm that imitates in real-time the natural motion of the human operator seen from a depth camera. The views of the robot's activities from the cameras on the robot side are provided as visual feedback back to the operator. The proposed methods give efficient operation of robot imitating human motion without using any costly devices like motion capture systems or wearable sensors.

Item Type:	Conference Paper
Publication:	2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Cameras; Robot vision; Robotic arms; Visual servoing; Wearable sensors, Complex task; Gesture control; Human support; Industrial robot arms; Natural motions; Real- time; Robot arms; Tele-operations; Unstructured environments; Vision based, Visual communication
Department/Centre:	Division of Electrical Sciences > Electrical Communication Engineering
Date Deposited:	24 Apr 2023 10:30
Last Modified:	24 Apr 2023 10:30
URI:	https://eprints.iisc.ac.in/id/eprint/81287

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