ROBOPuppet: Low-cost, 3D printed miniatures for teleoperating full-size robots


Conference Paper

© 2014 IEEE. ROBOPuppet is a method to create inexpensive, tabletop-sized robot models to provide teleoperation input to full-sized robots. It provides a direct physical correspondence from the device to the robot, which is appealing because users form an immediate 'mental mapping' of the input-output behavior. We observe that untrained users can immediately exploit tactile and physical intuition when controlling the puppet to perform complex actions the target robot. The key contribution of this paper is a build procedure that embeds standardized encoder modules into scaled-down CAD models of the robot links, which are then 3D printed and assembled. This procedure is generalizable to variety of robots, and parts cost approximately seventeen dollars per link. We also present a simple software tool for fast calibration of the puppet-robot mapping, and a safety filtering procedure that sanitizes the noisy inputs so that the robot avoids collisions and satisfies dynamic constraints. A prototype ROBOPuppet is built for a 6DOF industrial manipulator and tested in simulation and on the physical robot.

Full Text

Duke Authors

Cited Authors

  • Eilering, A; Franchi, G; Hauser, K

Published Date

  • January 1, 2014

Published In

Start / End Page

  • 1248 - 1254

Electronic International Standard Serial Number (EISSN)

  • 2153-0866

International Standard Serial Number (ISSN)

  • 2153-0858

International Standard Book Number 13 (ISBN-13)

  • 9781479969340

Digital Object Identifier (DOI)

  • 10.1109/IROS.2014.6942717

Citation Source

  • Scopus