Industrial Arm Teleoperation by Motion Capture

Challenge, contribution, and outcome

Narrative

Real-time teleoperation of an industrial robotic arm through natural human arm imitation: the operator wears a motion-capture marker suit, and the arm reproduces their movement live. The work grew into a general evaluation framework for teleoperation quality, published in the International Journal of Social Robotics.

System Record

My role

CONTRIBBuiltCONTRIBExperimental DevelopmentCONTRIBCo-Authored

Domain

DOMAINTeleoperation

Application

APPHuman-Robot Interaction

Laboratory

Platforms

PLATFORMIndustrial ManipulatorPLATFORMVicon Motion Capture

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

Evidence

• video

  Real-time teleoperation of an industrial robotic arm through human arm movement imitation

Related

Photos

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