Projects/2010–2012
Industrial Arm Teleoperation by Motion Capture
Interactive Robots and Media Lab (IRML)
Challenge, contribution, and outcome
CHALLENGE
Industrial manipulators are kinematically unlike human arms, making intuitive real-time teleoperation through natural motion difficult to evaluate.
MY CONTRIBUTION
Built the complete teleoperation pipeline from optical motion capture through kinematic retargeting to live industrial-arm control.
OUTCOME
Demonstrated motion-driven industrial-arm control and contributed to the IRIS 2010 publication and subsequent teleoperation research.
Project overview
A real-time teleoperation system that transfers an operator’s arm movements to an industrial manipulator using optical motion capture and kinematic retargeting. I built the pipeline connecting human motion to live robot control. Operator trials informed the initial IRIS 2010 work and a subsequent teleoperation-evaluation framework published in the International Journal of Social Robotics.
System Record
- Domain
- DOMAINTeleoperation
- Application
- APPHuman-Robot Interaction
- Methods
- METHODKinematic Retargeting
- Outcomes
- OUTCOMEPeer-Reviewed Publication
- Period
- 2010–2012
Development & Validation
- Full pipeline from optical motion capture through kinematic retargeting to live control of an industrial manipulator.
- Operator trials measured how naturally human arm movement transfers to a machine with very different kinematics.
- Presented at IRIS 2010; the follow-up evaluation framework appeared in the International Journal of Social Robotics (2012).
Credits & Collaborators
Nikolaos Giakoumidis
Interactive Robots and Media Lab (IRML)
Co-author
Nikolaos Mavridis
Interactive Robots and Media Lab (IRML)
Principal Investigator · Lead author
Eduardo L. Machado
IRML
Co-author
Nikos Batalas
IRML
Co-author
Publications & media
- Real-time teleoperation of an industrial robotic arm through human arm movement imitation
Publication
2010
Source · Proceedings of the International Symposium on Robotics and Intelligent Sensors (IRIS)
- Real-time teleoperation of an industrial robotic arm through human arm movement imitation
Video
Additional Media
MARKER SUIT — OPERATOR CALIBRATION — Interactive Robots and Media Lab (IRML) · 2010–2012
Operator in a motion-capture marker suit holding a T-pose for calibration in the IRML lab