A motion sensing-based framework for robotic manipulation.

Hao Deng,Peng Fang,Jing Xiong,Shaokui Weng,Zeyang Xia,Yangzhou Gan

doi:10.1186/s40638-016-0056-9

Abstract

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human–machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Highlights

Robots have found an increasingly wide utilization in all fields, and they move objects with blurring speed, repeat performances with unerring precision and manipulate tasks with high dexterity
The latest robotic researches would handle the situations with a sophisticated sensing and intelligent system [3], most robots are still under a typical “teach-pendant operating” pattern to get knowledge about current environment configurations
We found that once a robot controller could provide access to position control, a hardware interface to operate this manipulator would be developed

Summary

Introduction

Robots have found an increasingly wide utilization in all fields, and they move objects with blurring speed, repeat performances with unerring precision and manipulate tasks with high dexterity. To data, robots have been very successful at manipulation in controlled environments such as in a factory or laboratory. When outside of the controlled environments, they normally perform tasks when operating with human [2]. The latest robotic researches would handle the situations with a sophisticated sensing and intelligent system [3], most robots are still under a typical “teach-pendant operating” pattern to get knowledge about current environment configurations. Typical teach-pendant is a handheld control unit equipped with buttons or joysticks to manually send the robot to desired positions, a screen to display robot states, and a large red emergency stop button.

Discussion

Conclusion