移動マニピュレータ向け低コスト遠隔操作拡張
Low-Cost Teleoperation Extension for Mobile Manipulators
スマートフォン、リーダーアーム、フットペダルを用いた低コストな移動マニピュレータの遠隔操作フレームワークを提案し、ユーザー実験で有効性を検証した。
詳しい要約
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著者: Danil Belov, Artem Erkhov, Yaroslav Savotin, Tatiana Podladchikova, Pavel Osinenko, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole body control using readily available commodity hardware. Our system combines smartphone-based head tracking for camera control, leader arms for bilateral manipulation, and foot pedals for hands-free base navigation. Using a standard smartphone with IMU and display, we eliminate the need for costly VR helmets while maintaining immersive visual feedback. The modular architecture integrates seamlessly with the XLeRobot framework, but can be easily adapted to other types of mobile manipulators. We validate our approach through user studies that demonstrate improved task performance and reduced cognitive load compared to keyboard-based control.
