Teleoperation of a 7 DOF humanoid robot arm using human arm accelerations and EMG signals

Leitner, Juergen, Luciw, M., Forster, A., & Schmidhuber, J. (2014) Teleoperation of a 7 DOF humanoid robot arm using human arm accelerations and EMG signals. In Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space - i-SAIRAS’14, The Canadian Space Agency (CSA-ASC), Montreal, Canada.

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Abstract

We present our work on tele-operating a complex humanoid 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 electromyography (EMG) signals. These bio-signals are used to execute equivalent actions (such as, reaching and grasping of objects) on the 7 DOF arm.

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ID Code: 82594
Item Type: Conference Paper
Refereed: Yes
Keywords: Robot vision, Collision avoidance, Machine learning
Divisions: Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 [please consult the authors]
Deposited On: 19 Mar 2015 01:32
Last Modified: 23 Mar 2015 03:38

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