Inertial motion capture based tele-operation of a mobile robot manipulator

Title: Inertial Motion Capture Based Tele-operation of a Mobile Robot Manipulator

Authors/ Researchers: Yerbolat Khassanov, Nursultan Imanberdiyev, Huseyin Atakan Varol (PI)

Laboratory: Advanced Robotics and Mechatronics Systems (ARMS) Laboratory

University: Nazarbayev University (Astana, Kazakhstan)

Abstract: Main objective of the project is to develop an intuitive, effective and easy-to-use inertial motion capture (Xsens MVN) based teleoperation framework for a mobile robot manipulator. Specifically, body center of mass and the right hand kinematic data of the user are used to generate position and orientation references for the KUKA youBot base and manipulator, respectively. The left arm is employed to provide high-level user commands such as “Manipulator On/Off”, “Base On/Off” and “Manipulator Pause/Resume”. Principal Component Analysis and Linear Discriminant Analysis are used in real-time to extract user intent for these high level commands. The efficacy of the presented system was demonstrated in real-time teleoperation experiments using KUKA youBot mobile manipulator accomplishing pick-and-place tasks. For further information, please visit our laboratory website at arms.nu.edu.kz.

Video: Inertial motion capture based tele-operation of a mobile robot manipulator

Project poster with additional information:  arms_nu_poster_inertial_motion-capture_system_based_human_robot_interface