Name
Abstract | ||
|---|---|---|
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually offer reduced degrees of control. Herein, a low-cost, depth-based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand. DexPilot enabled operators to solve a variety of complex manipulation tasks that go beyond simple pick-and-place operations and performance was measured through speed and reliability metrics. DexPilot cost-effectively enables the production of high dimensional, multi-modality, state-action data that can be leveraged in the future to learn sensorimotor policies for challenging manipulation tasks. The videos of the experiments can be found at https://sites.google.com/view/dex-pilot. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197124 | ICRA |
DocType | Volume | Issue |
Conference | 2020 | 1 |
Citations | PageRank | References |
4 | 0.49 | 9 |
Authors | ||
9 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ankur Handa | 1 | 479 | 26.11 |
| Karl Van Wyk | 2 | 4 | 1.17 |
| Yang Wei | 3 | 4 | 1.51 |
| Jacky Liang | 4 | 14 | 4.24 |
| Yu-Wei Chao | 5 | 241 | 9.87 |
| Qian Wan | 6 | 23 | 7.01 |
| Stan Birchfield | 7 | 1406 | 193.73 |
| Nathan D. Ratliff | 8 | 834 | 50.98 |
| Dieter Fox | 9 | 12306 | 1289.74 |