Sign language for telemanipulation

Polly K. Pook; Dana H. Ballard

doi:10.1117/12.197311

21 December 1995 Sign language for telemanipulation

Polly K. Pook, Dana H. Ballard

Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197311
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

Literal teleoperation doesn't work very well. Limited bandwidth, long latencies, non- anthropomorphic mappings all make the effort of teleoperation tedious at best and ineffective at worst. Instead, users of teleoperated and semi-autonomous systems want their robots to `just do it for them,' without sacrificing the operator's intent. Our goal is to maximize human strategic control in teleoperator assisted robotics. In our teleassisted regime, the human operator provides high-level contexts for low-level autonomous robot behaviors. The operator wears an EXOS hand master to communicate via a natural sign language, such as pointing to objects and adopting a grasp preshape. Each sign indicates intention: e.g., reaching or grasping; and, where applicable, a spatial context: e.g., the pointing axis or preshape frame. The robot, a Utah/MIT hand on a Puma arm, acts under local servo control within the proscribed contexts. This paper extends earlier work [Pook & Ballard 1994a] by adding remote visual sensors to the teleassistance repertoire. To view the robot site, the operator wears a virtual research helmet that is coupled to binocular cameras mounted on a second Puma 760. The combined hand-head sensors allows teleassistance to be performed remotely. The example task is to open a door. We also demonstrate the flexibility of the teleassistance model by bootstrapping a `pick and place' task from the door opening task.

Citation Download Citation

Polly K. Pook and Dana H. Ballard "Sign language for telemanipulation", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); https://doi.org/10.1117/12.197311

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available