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academies
October 22-23, 2018 | Frankfurt, Germany
International Conference on
Robo t i c s a n d A u t oma t i o n
B iomater ial s and Nanomater ial s
Joint Event
&
Journal of Biomedical Research | Volume 29
Motion mapping from human arm to an anthropomorphic robot for tele-operation
Daoxiong GONG, Guoyu ZUO
and
Jianjun YU
Beijing University of Technology, China
H
omogeneous master-slave robots have a wide application
for tele-operation in dangerous environments, especially
when the environment is so complicate that manual operation
is needed. In this report, we present a tele-manipulation robot
systemwithhumanarmsas themasterandananthropomorphic
dual-arm robot as the slave. The robot arm has 3 DOFs in
shoulder, 2 DOFs in elbow, 2 DOFs inwrist, 2 joints in the thumb,
and 3 joints in the other fingers. We adopt a wearable motion
capture system to obtain the operator’s action command,
and employ a motion-mapping algorithm based on unit dual
quaternions (UDQs) to perform the joint-to-joint motion-
mapping task. We compute the expected/actual joints’ angle of
the slave robot via the orientation data of the adjoining limbs of
the master/slave arm, and successively execute the motion of
every joint from the trunk to the distal joint of the robot arms.
As a result, we can keep the slave arms possessing the similar
configuration of the master arms in the whole course of tele-
manipulation. We validate our approach via experiment videos.
Speaker Biography
Daoxiong GONG received the PhD degree in control theory and control engineering
from Beijing University of Technology in 2004. He was an academic visiting scholar with
the laboratory for robotics and automation, the department of Electrical and Computer
Engineering, Michigan State University, US, from 2012 to 2013. He is an associate
professor with the Faculty of Information Technology, Beijing University of Technology. His
research is supported by the NSFC. His research interests include tele-manipulation robot,
evolutionary computation, and intelligent control.
e:
d.x.gong@gmail.comDaoxiong Gong et al.
, Robotics & Biomaterials 2018, Volume 29
DOI: 10.4066/biomedicalresearch-C6-017