User-oriented Natural Human-Robot Control with Thin-Plate Splines and LRCN
Bruno Lima,
Lucas Amaral,
Givanildo Nascimento-Jr
et al.
Abstract:We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach leverages the conventional fine-tuning control, turning it into a direct body pose capture process. The proposed approach is comprised of two main parts. The first is a nonlinear customizable pose mapping based on Thin-Plate Splines (TPS), to directly transfer human body motion … Show more
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