Toward expressive multi-platform teleoperation: Laban-inspired concurrent operation of multiple joints on the rethink robotics baxter robot in static and dynamic tasks

Yichen Zhou, Maxwell Asselmeier, Amy LaViers

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

Abstract

Human motion calls upon embodied strategies, which can be difficult to replicate in teleoperation architectures. This paper presents a teleoperation method that centers around the Space component of Laban Movement Analysis and may improve the dynamic complexity of teleoperation commands, allowing a trained user to command multiple joint angles at one time via a large database of stored poses, which are indexed by Space parameters. In this paper, this method is compared to a benchmark method, utilizing a joint-by-joint manner of control on a Rethink Robotics Baxter with compliant limbs using a Microsoft Xbox controller. Across four tasks with a trained operator, analysis of the number of active joints at a given point in time and time to completion emphasize the utility that comes with the proposed method. In particular, for the two presented static tasks, the average number of joint angles moving at one time improves and completion times reduce for the proposed method. Plots of behavior show additional qualitative differences in operator strategies and resulting motion, which are also discussed. Future work will extend this initial demonstration to more formal trials with multiple operators. This method may help achieve more fluid, continuous, and improvised motion in teleoperation of robots via gamepads as are currently used in disaster response platforms.

Original languageEnglish (US)
Title of host publicationMOCO 2019 - 6th International Conference on Movement and Computing
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450376549
DOIs
StatePublished - Oct 10 2019
Event6th International Conference for Movement and Computing, MOCO 2019 - Tempe, United States
Duration: Oct 10 2019Oct 12 2019

Publication series

NameACM International Conference Proceeding Series

Conference

Conference6th International Conference for Movement and Computing, MOCO 2019
CountryUnited States
CityTempe
Period10/10/1910/12/19

Keywords

  • Data-driven Methods
  • Laban Movement Analysis
  • Teleoperation

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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