A system of robot mobile manipulation based on teleoperation with human motion capture

Mobile manipulation is simple for human, but difficult for robot. A mobile robot named CHR is developed for mobile manipulation by teleoperation based on mobile Internet. The operator´s command is transferred to the robot located in the house. In this paper the manipulation is divided into four parts: preparing, approaching, orientation adjusting, operating. In different parts, different control command generating tools are used. Some experiments are provided. In this paper we use the network camera to capture the information of manipulation scene, transmitted through the cloud server, displayed in the master part. Through stereo equipment, body motion was captured and compared with the data from the infrared motion capture system. Then, select the optimal data to match with the robot. In this paper, it has realized that the small mobile robot turned off the lights. Through the remote operator arm to control the movement of robot, right hand respectively to turn off the lights, prove the feasibility of teleoperation.