This paper presents a remotely operated robotic system that includes two mobile manipulators to extend the functional capabilities of a human body.Compared with previous tele-operation or robotic body extension system...This paper presents a remotely operated robotic system that includes two mobile manipulators to extend the functional capabilities of a human body.Compared with previous tele-operation or robotic body extension systems,using two mobile manipulators helps with enlarging the workspace and allowing manipulation of large or long objects.The system comprises a joystick for controlling the mobile base and robotic gripper,and a motion capture system for controlling the arm poses.They together enable tele-operated dual-arm and large-space manipulation.In the experiments,a human tele-operator controls the two mobile robots to perform tasks such as handover,long object manipulation,and cooperative manipulation.The results demonstrated the effectiveness of the proposed system,resulting in extending the human body to a large space while keeping the benefits of having two limbs.展开更多
基金supported by the UKRI Future Leaders Fellowship[MR/V025333/1](RoboHike)and the UCL-Osaka University Strategic Partner Fund 2021.
文摘This paper presents a remotely operated robotic system that includes two mobile manipulators to extend the functional capabilities of a human body.Compared with previous tele-operation or robotic body extension systems,using two mobile manipulators helps with enlarging the workspace and allowing manipulation of large or long objects.The system comprises a joystick for controlling the mobile base and robotic gripper,and a motion capture system for controlling the arm poses.They together enable tele-operated dual-arm and large-space manipulation.In the experiments,a human tele-operator controls the two mobile robots to perform tasks such as handover,long object manipulation,and cooperative manipulation.The results demonstrated the effectiveness of the proposed system,resulting in extending the human body to a large space while keeping the benefits of having two limbs.
