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arXiv · 2003.05212

A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU

Shuang Li·Jiaxi Jiang·Philipp Ruppel·Hongzhuo Liang·Xiaojian Ma·Norman Hendrich·Fuchun Sun·Jianwei Zhang
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Abstract

In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates not only joint angles but also depth images of paired robot hand poses through an image-to-image translation process. A keypoint-based reconstruction loss explores the resemblance in appearance and anatomy between human and robotic hands and enriches the local features of reconstructed images. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system. Network evaluation results on a test dataset and a variety of complex manipulation tasks that go beyond simple pick-and-place operations show the efficiency and stability of our multimodal teleoperation system.

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Shuang Li, Jiaxi Jiang, Philipp Ruppel, Hongzhuo Liang, Xiaojian Ma, Norman Hendrich, Fuchun Sun, Jianwei Zhang. 2020-03-11. A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU. https://arxiv.org/abs/2003.05212

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