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Handheld device design for robotic teleoperation based on multi-sensor fusion

Xie, Lingzi; Huang, Darong; Lu, Zhenyu; Wang, Ning; Yang, Chenguang

Authors

Lingzi Xie

Darong Huang

Zhenyu Lu



Abstract

Precise leader-follower control is critical for teleop- eration. This paper designs and implements a low-cost leader device for unilateral teleoperation scenario. Monocular vision based on fiducial markers and MEMS Inertial Measurement Unit (IMU) are utilized to constitute the pose sensing system of the handheld device. To increase the positioning output frequency and deal with the motion blur of the fiducial markers, the IMU data and vision message are fused by an Error State Kalman Filter (ESKF). An assembly experiment was carried out to verify the effectiveness of the proposed device and the feasibility of the fusion algorithm.

Citation

Xie, L., Huang, D., Lu, Z., Wang, N., & Yang, C. (2023). Handheld device design for robotic teleoperation based on multi-sensor fusion. In 2023 IEEE International Conference on Mechatronics (ICM). https://doi.org/10.1109/ICM54990.2023.10102054

Conference Name Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
Conference Location Loughborough, United Kingdom
Start Date Mar 15, 2023
End Date Mar 15, 2023
Acceptance Date Jan 17, 2023
Online Publication Date Apr 17, 2023
Publication Date Apr 17, 2023
Deposit Date May 3, 2023
Publicly Available Date Apr 18, 2025
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Book Title 2023 IEEE International Conference on Mechatronics (ICM)
ISBN 978-1-6654-6662-2
DOI https://doi.org/10.1109/ICM54990.2023.10102054
Keywords Teleoperation, Handheld device, Visual-Inertial fusion, Error State Kalman Filter
Public URL https://uwe-repository.worktribe.com/output/10723691
Publisher URL https://ieeexplore.ieee.org/document/10102054
Related Public URLs https://ieeexplore.ieee.org/xpl/conhome/10101870/proceeding