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Overview

Welcome to our Project: GuLiM motion transfer

demo of dualarm teleop demo of dualarm grasp

Citation:

This work has been published in IEEE Transactions on Medical Robotics and Bionics.

@ARTICLE{9693932,  
        author={Lv, Honghao and Kong, Depeng and Pang, Gaoyang and Wang, Baicun and Yu, Zhangwei and Pang, Zhibo and Yang, Geng},  
        journal={IEEE Transactions on Medical Robotics and Bionics},   
        title={GuLiM: A Hybrid Motion Mapping Technique for Teleoperation of Medical Assistive Robot in Combating the COVID-19 Pandemic},   
        year={2022},  
        volume={4},  
        number={1},  
        pages={106-117},  
        doi={10.1109/TMRB.2022.3146621}
}

Abstract:

We present an intuitive teleoperation approach for human-robot motion transfer. Hybrid mapping of hand gesture and limb motion method (GuLiM) with incremental pose mapping strategy is introduced to flexibly map the workspace between human and robot. This GuLiM method cost-effectively enables a non-expert to transfer a rough manipulation skill to an assistive robot for challenging tasks.

GuLiM process