A Mirrored Motion Remapping Method in Telemanipulation-based Face-to-Face Dual-arm Robot Teaching

Abstract

With the increasing demands from industrial and daily usage, dexterous robot manipulation in unstructured environment becomes a very important technology to make robots behave smartly and interact with people intelligently. To deal with the challenge in efficient task teaching of a robot with multiple Degree-of-freedom (DoF) for dexterous manipulation, this paper develops a mirrored motion remapping method, for enabling a human operator to teach a dual-arm robot face-to-face by direct human motion through handheld HTC VIVE controllers. The provided implementation results shows that the mirror mapping based telemanipulation enables an operator to visualize the on-site conditions and understand the robot actions nicely while telemanipulating a dual-arm robot. The robot is guided to complete variation of complex tasks which involves dexterous dual-arm manipulation efficiently, based on the human-in-the-loop telemanipulation. Such method is very useful to support face-to-face teaching on dual-arm robots and enhances capabilities of dual-arm robots on more dexterous manipulation skills in the near future.