Single RGB-D Camera Teleoperation for General Robotic Manipulation
Quan Vuong, Yuzhe Qin, Runlin Guo, Xiaolong Wang, Hao Su, Henrik Christensen
University of California San Diego
In this paper, our contributions are:
A teleoperation system for manipulation which uses a single RGB-D device for motion capture.
Novel application of non-Cartesian oblique coordinate frame to define the operator frame, dynamic motion scaling, and repositioning of operator frame.
Demonstration that our system can successfully accomplish complex manipulation tasks.
Single RGB-D Camera to capture human motion
Single RGB-D Camera to capture human motion
Cutting Fruit
Folding Cloth
Cord Untangling
(unseen task)
Object Storage in Drawer
(unseen task)
Peg in Hole
Pick and Place
Hammering
Moving Large Container with 2 arms
Single RGB Camera to capture human motion (no depth sensing)
Single RGB Camera to capture human motion (no depth sensing)
Pick and Place