Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms.

We propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous image-based visual servoing routine can be triggered for precise positioning. Coarse motions are executed by human teleoperation and fine motions by image-based visual servoing. A successful application of our proposed interaction is presented for a WAM arm equipped with an eye-in-hand camera.