title: A motion sensing-based framework for robotic manipulation.
abstract: To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Hao
authors.initials: H
authors.lastname: Deng
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Zeyang
authors.identifier: 0000-0002-0075-7949
authors.initials: Z
authors.lastname: Xia
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Shaokui
authors.initials: S
authors.lastname: Weng
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Yangzhou
authors.initials: Y
authors.lastname: Gan
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Peng
authors.initials: P
authors.lastname: Fang
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.
authors.forename: Jing
authors.initials: J
authors.lastname: Xiong
keywords: Gesture recognition; Human–machine interaction; Motion sensing; Robotic manipulation