tele-operation of a humanoid robot, using operator bio-data
DESCRIPTION
We present our work on tele-operating a complex hu- manoid robot with the help of bio-signals collected from the operator. The frameworks (for robot vision, collision avoidance and machine learning), developed in our lab, allow for a safe interaction with the environment, when combined. This even works with noisy control signals, such as, the operator’s hand acceleration and their elec- tromyography (EMG) signals. These bio-signals are used to execute equivalent actions (such as, reaching and grasp- ing of objects) on the 7 DOF arm.TRANSCRIPT
#iSAIRAS 2014
tele-operation for humanoid using operator bio-data
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M. Luciw, A. Förster, J. Schmidhuber !
istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana
idsia / usi / supsi
Jürgen ’Juxi’ Leitner
manipulation
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aimed at
[Metta et al., 2010]
avoidancecollision
MoBeE v1[Frank et al., 2011,2012, 2013]
MoBeEv2[Frank et al., 2011,2012, 2013]
hand/armop-space forcing
CSWorld
CSHand
CSR/CSL
[Leitner et al, in prep]
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objectsdetecting
rocksdetecting
e.g. [Leitner et al., i-SAIRAS’12]
repertoire[Leitner et al, in prep]
operationtele
acquisitionemg
classificationemg
acquiringemg
iEMGboard
+ acceleration
hand/armop-space forcing
CSWorld
CSHand
CSR/CSL
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CSHand’
hand/armop-space forcing
hand/armop-space forcing
workfuture
human-robot interaction
variable autonomy
action outcome/prediction
WaY better classification
for listeningthanks
http://Juxi.net/projects !