An IMU-based robotic manipulator for versatile applications

Abstract

With the development of sensory technologies, the inertial measurement unit (IMU) has been emerging widely. In this paper, the IMU sensor is used to facilitate the versatile applications of robotic manipulators. The Kalman filter fuses the raw measurements of an IMU mounted on human hands to obtain the real-time attitude information. The contribution is to manipulate the robotic arm dexterously by the motion guidance of human hands, to achieve human-robot interaction. The experimental results evaluate the attitude preciseness and associated manipulators locomotion. In the future work, the proposed interaction method will be applied in manipulation tasks such as grasping, inspection and so on.