Multi-robot teleoperation using direct human hand actions

摘要

This paper presents a novel concept for teleoperation using direct human hand (s) actions which we called 'the hidden robot' concept. The proposed teleoperation scheme is composed of three main components: the operator/computer loop, the execution loop and between them the bilateral transformation modules linked by the communication channel. Within the operator/computer master loop, the operator performs what we call a 'virtual task', without being constrained by the slave robot. At this stage, the bilateral transformation layer is in charge of extracting, at the low level, pertinent parameters from the virtual task and transforming them onto robot control signals.