2025/05/19 by Max Grobbel, Daniel Flögel, Grobbel, Max +5 · 1 citation
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Human Motion and Animation #Human-Computer Interaction (cs.HC) #Robot Manipulation and Learning #Robotics (cs.RO) #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2505.13054
openalex publication_date 2025/05/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments, which is directly influenced by the point of view and the motion retargeting strategy. In modern teleoperation systems, motion retargeting is usually implemented through a one time calibration or switching modes. Complex tasks, like concatenated screwing, might be difficult, because the operator has to align (e.g. mirror) rotational and translational input commands. Recent research has shown, that the separation of translation and rotation leads to increased task performance. This work proposes a formal motion retargeting method, which separates translational and rotational input commands. This method is then included in a optimal control based trajectory planner and shown to work on a UR5e manipulator.