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...