Purpose

This paper aims to present a natural human–robot teleoperation system, which capitalizes on the latest advancements of monocular human pose estimation to simplify scenario requirements on heterogeneous robot arm teleoperation.

Design/methodology/approach

Several optimizations in the joint extraction process are carried on to better balance the performance of the pose estimation network. To bridge the gap between human joint pose in Cartesian space and heterogeneous robot joint angle pose in Radian space, a routinized mapping procedure is proposed.

Findings

The effectiveness of the developed methods on joint extraction is verified via qualitative and quantitative experiments. The teleoperation experiments on different robots validate the feasibility of the system controlling.

Originality/value

The proposed system provides an intuitive and efficient human–robot teleoperation method with low-cost devices. It also enhances the controllability and flexibility of robot arms by releasing human operator from motion constraints, paving a new way for effective robot teleoperation.

中文翻译：

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用于高效机械臂远程操作的集成视觉系统

目的

本文旨在提出一种自然的人机遥操作系统，该系统利用单眼人体姿态估计的最新进展来简化异构机械臂遥操作的场景要求。

设计/方法/方法

在联合提取过程中进行了多项优化，以更好地平衡姿态估计网络的性能。为了弥合笛卡尔空间中的人体关节位姿和弧度空间中的异构机器人关节角位姿之间的差距，提出了一种常规化的映射程序。

发现

通过定性和定量实验验证了所开发方法对联合提取的有效性。在不同机器人上的遥操作实验验证了系统控制的可行性。

原创性/价值

所提出的系统提供了一种具有低成本设备的直观有效的人机远程操作方法。它还通过释放人类操作员的运动约束来增强机器人手臂的可控性和灵活性，为有效的机器人远程操作铺平了新途径。