In this project, we will focus on the formulation of a humanlike telemanipulation scheme for a dual robot arm hand system that will provide intuitive control to the user. The experimental setup that will be used consists of two 6 DoF anthropomorphic robot arms (Universal Robots UR5 & UR10) and two underactuated and compliant robot hands designed by the New Dexterity research group - www.newdexterity.org.
The human motion will be recorded by appropriate motion capture systems (e.g., Vicon, magnetic motion capture system) and it will be mapped to equivalent humanlike robot motion. The experiments that will be conducted will focus on the online execution of bimanual manipulation tasks that require increased dexterity. An augmented reality framework will be used in order to increase the intuitiveness and efficiency of task execution during telemanipulation.
Undergraduate
None
Mechatronics Design & Build (201.553, Lab)