An exoskeleton-based master device for dual-arm robot teleoperation
文献类型：会议论文
| 作者 | Zhao L(赵亮)1,2,3 ; Yang T(杨铁)1; Yu P(于鹏)1; Yang Y(杨洋)1
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| 出版日期 | 2020 |
| 会议日期 | November 6-8, 2025 |
| 会议地点 | Shanghai, China |
| 关键词 | teleoperation master device exoskeleton spherical scissor mechanism dual-arm robot |
| 页码 | 5316-5319 |
| 英文摘要 | Teleoperation is a more realistic approach when controlling a robot in some complex tasks. Traditional master devices have many limits in controlling large scale robot manipulators, especially for a dual-arm robot. In this paper, we present a wearable exoskeleton-based master device for manipulating a dual arm robot. Efforts have been made to optimize the human-machine compatibility of the master device, so that people can manipulate a dual-arm robot in a more natural and intuitive way. A joint space mapping control framework is presented. The performance of the proposed master device and control scheme is validated by experiments conducted in ROS RVIZ environment. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2020 Chinese Automation Congress, CAC 2020
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-7687-1 |
| WOS记录号 | WOS:000678697005079 |
| 源URL | [http://ir.sia.cn/handle/173321/28371]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zhao L(赵亮) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China 3.Institutes for Robotics and Intelligent Manufacturing, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zhao L,Yang T,Yu P,et al. An exoskeleton-based master device for dual-arm robot teleoperation[C]. 见:. Shanghai, China. November 6-8, 2025. |
入库方式： OAI收割
来源：沈阳自动化研究所
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