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

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

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.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
• 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