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

摘要

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. 1