Motion-Based Control Interface for Intuitive and Efficient Teleoperation of Construction Robots

Usman Rasheed, Xiaoyun Liang, Jiannan Cai, Shuai Li, Yuqing Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic teleoperation is regarded as a promising method of assisting workers in performing construction activities while avoiding potentially dangerous conditions. However, the control interface of conventional teleoperation systems relies on physical devices, such as a keyboard and joystick, to input control commands, which cannot be intuitively mapped to robot movement, and thus affecting the teleoperation performance of non-expert users. In this research, we present a novel human-robot interface to map human arm movement to robotic arm motion for intuitive teleoperation. Firstly, the human arm is tracked in real-Time through a motion capturing system, that is, OptiTrack. The 3D location data is then streamed to robot operating system (ROS) and is used for motion planning of the robotic arm in MoveIt. Finally, the interface is demonstrated in a teleoperated pick-And-place task through robotic simulation, and the usability of the developed framework is compared to that of a joystick-based teleoperation system.

Original languageEnglish (US)
Title of host publicationComputing in Civil Engineering 2023
Subtitle of host publicationData, Sensing, and Analytics - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2023
EditorsYelda Turkan, Joseph Louis, Fernanda Leite, Semiha Ergan
PublisherAmerican Society of Civil Engineers (ASCE)
Pages470-478
Number of pages9
ISBN (Electronic)9780784485224
DOIs
StatePublished - 2024
EventASCE International Conference on Computing in Civil Engineering 2023: Data, Sensing, and Analytics, i3CE 2023 - Corvallis, United States
Duration: Jun 25 2023Jun 28 2023

Publication series

NameComputing in Civil Engineering 2023: Data, Sensing, and Analytics - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2023

Conference

ConferenceASCE International Conference on Computing in Civil Engineering 2023: Data, Sensing, and Analytics, i3CE 2023
Country/TerritoryUnited States
CityCorvallis
Period6/25/236/28/23

All Science Journal Classification (ASJC) codes

  • General Computer Science
  • Civil and Structural Engineering

Cite this