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作者:

Gong, Daoxiong (Gong, Daoxiong.) | Wang, Ruihua (Wang, Ruihua.) | Zuo, Guoyu (Zuo, Guoyu.) (学者:左国玉)

收录:

CPCI-S

摘要:

This paper studies the motion mapping from a human arm to a heterogeneous slave robot arm for tele-manipulation. A wearable motion capture system is employed to measure the motion of the master arm (i.e., the human arm), and then the motion of human arm is mapped into the workspace of the slave robot arm via corresponding joint group mapping, as a result, we can control the motion of the heterogeneous slave manipulator. This system possesses two remarkable advantages: the fatigue degree and error rate of the operating staff can be significantly reduced, and the safety of the tele-manipulator in an unstructured and constrained environment can be significantly improved.

关键词:

作者机构:

  • [ 1 ] [Gong, Daoxiong]Beijing Univ Technol, Beijing 100124, Peoples R China
  • [ 2 ] [Wang, Ruihua]Beijing Univ Technol, Beijing 100124, Peoples R China
  • [ 3 ] [Zuo, Guoyu]Beijing Univ Technol, Beijing 100124, Peoples R China
  • [ 4 ] [Gong, Daoxiong]Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China
  • [ 5 ] [Wang, Ruihua]Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China
  • [ 6 ] [Zuo, Guoyu]Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China

通讯作者信息:

  • 左国玉

    [Zuo, Guoyu]Beijing Univ Technol, Beijing 100124, Peoples R China

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来源 :

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)

年份: 2015

页码: 481-486

语种: 英文

被引次数:

WoS核心集被引频次: 0

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ESI高被引论文在榜: 0 展开所有

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