単一RGB-Dカメラによる汎用ロボットマニピュレーションの遠隔操作
Single RGB-D Camera Teleoperation for General Robotic Manipulation
1台のRGB-Dカメラで人間の動きを捉え、布畳みやハンマー作業、3mmクリアランスのペグ挿しなど汎用作業を遠隔操作できるシステムを提案した論文。
著者: Quan Vuong, Yuzhe Qin, Runlin Guo, Xiaolong Wang, Hao Su, Henrik Christensen
分類: cs.RO, cs.AI
原文アブストラクト
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hammering and 3mm clearance peg in hole. We propose the use of non-Cartesian oblique coordinate frame, dynamic motion scaling and reposition of operator frames to increase the flexibility of our teleoperation system. We hypothesize that lowering the barrier of entry to teleoperation will allow for wider deployment of supervised autonomy system, which will in turn generates realistic datasets that unlock the potential of machine learning for robotic manipulation. Demo of our systems are available online https://sites.google.com/view/manipulation-teleop-with-rgbd
