DexPilot：素手の視覚認識による多指ロボットハンド・アームの低コスト遠隔操作システム
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
素手の映像だけから23自由度の多指ロボットハンド・アームを低コストで遠隔操作できる視覚ベースのシステムを開発し、単純なピック&プレースを超える複雑な操作タスクの実現と高次元データ収集を示した。
著者: Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually provide reduced degrees of control. Herein, a low-cost, vision based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand. DexPilot enables operators to carry out a variety of complex manipulation tasks that go beyond simple pick-and-place operations. This allows for collection of high dimensional, multi-modality, state-action data that can be leveraged in the future to learn sensorimotor policies for challenging manipulation tasks. The system performance was measured through speed and reliability metrics across two human demonstrators on a variety of tasks. The videos of the experiments can be found at https://sites.google.com/view/dex-pilot.
