Methods for Effective Mimicry-based Teleoperation of Robot Arms

摘要

In this research, I report on novel methods to afford more intuitive and efficient robot teleoperation control using human motion. The overall premise of this work is that allowing users to control robots using the natural input space of their arms will lead to task performance and subjective measure benefits over more traditional interfaces. In this paper, I outline completed work on a mimicry-based teleoperation control system that enables improved task proficiency for novice users by mapping their arm motion to a robot arm in real-time, as well as ongoing and future research that will further improve this control paradigm.