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OCRA: An Optimization-Based Customizable Retargeting Algorithm for Teleoperation

2023

Miscellaneous

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This paper presents a real-time optimization-based algorithm for mapping motion between two kinematically dissimilar serial linkages, such as a human arm and a robot arm. OCRA can be customized based on the target task to weight end-effector orientation versus the configuration of the central line of the arm, which we call the skeleton. A video-watching study (N=70) demonstrated that when this algorithm considers both the hand orientation and the arm skeleton, it creates robot arm motions that users perceive to be highly similar to those of the human operator, indicating OCRA would be suitable for telerobotics and telepresence through avatars.

Author(s): Mayumi Mohan and Katherine J. Kuchenbecker
Year: 2023
Month: May
Department(s): Haptic Intelligence
Research Project(s): Teleoperating Max's Head and Arms
Bibtex Type: Miscellaneous (misc)
Paper Type: Workshop
Address: London, UK
How Published: Workshop paper (3 pages) presented at the ICRA Workshop Toward Robot Avatars
State: Published
URL: https://www.ais.uni-bonn.de/ICRA2023AvatarWS/contributions/ICRA_2023_Avatar_WS_Mohan.pdf

BibTex 

@misc{Mohan23-ICRAWS-OCRA,
  title = {{OCRA}: An Optimization-Based Customizable Retargeting Algorithm for Teleoperation},
  author = {Mohan, Mayumi and Kuchenbecker, Katherine J.},
  howpublished = {Workshop paper (3 pages) presented at the ICRA Workshop Toward Robot Avatars},
  address = {London, UK},
  month = may,
  year = {2023},
  doi = {},
  url = {https://www.ais.uni-bonn.de/ICRA2023AvatarWS/contributions/ICRA_2023_Avatar_WS_Mohan.pdf},
  month_numeric = {5}
}