A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests
Sunyu Wang,Kevin Murphy,Dillan Kenney,Joao Ramos,Sunyu Wang,Kevin Murphy,Dillan Kenney,Joao Ramos
Teleoperation—i.e., controlling a robot with human motion—proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely have identical topologies and dimensions. This work presents an experimental study that utilizes reaction tests to compare joint space and task space mappings fo...
