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Tele-operation of a Humanoid Robot, Using Operator Bio-data

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#iSAIRAS 2014
tele-operation for humanoid
using operator bio-data
!
M. Luciw,A. Förster, J. Schmidhuber	

!
istituto dalle...
project
!
WAY
http://www.wayproject.eu/results.html
project
IM-CLeVeR
http://robotics.idsia.ch/im-clever/

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Tele-operation of a Humanoid Robot, Using Operator Bio-data

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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.

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.

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Tele-operation of a Humanoid Robot, Using Operator Bio-data

  1. 1. #iSAIRAS 2014 tele-operation for humanoid using operator bio-data ! M. Luciw,A. Förster, J. Schmidhuber ! istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana idsia / usi / supsi Jürgen ’Juxi’ Leitner
  2. 2. project ! WAY http://www.wayproject.eu/results.html
  3. 3. project IM-CLeVeR http://robotics.idsia.ch/im-clever/
  4. 4. manipulation ! aimed at [Metta et al., 2010]
  5. 5. object manipulation towards learned http://robotics.idsia.ch/
  6. 6. avoidance collision
  7. 7. MoBeEv1 [Frank et al., 2011,2012, 2013]
  8. 8. MoBeEv2 [Frank et al., 2011,2012, 2013]
  9. 9. hand/arm op-space forcing CSWorld CSHand CSR/CSL [Leitner et al, in prep] -
  10. 10. ! objects detecting
  11. 11. rocks detecting e.g. [Leitner et al., i-SAIRAS’12]
  12. 12. http://Juxi.net/media
  13. 13. repertoire [Leitner et al, in prep]
  14. 14. operation tele
  15. 15. acquisition emg
  16. 16. classification emg
  17. 17. acquiringemg
  18. 18. iEMG board
  19. 19. + acceleration
  20. 20. hand/arm op-space forcing World CSHand CSR/CSL - CSHand’
  21. 21. hand/arm op-space forcing
  22. 22. hand/arm op-space forcing
  23. 23. work future human-robot interaction variable autonomy action outcome/prediction WaY better classification
  24. 24. for listening thanks http://Juxi.net/projects ! juxi@idsia.ch

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