Intuitive Control of Virtual Robots using Transformed Objects as Multiple Viewports In this paper, the integration of Leap Motion controller with RoboAnalyzer software has been reported. Leap Motion is a vision based device that tracks the motion of human hands, which was processed and used to control a virtual robot model in RoboAnalyzer, an established robot simulation software. For intuitive control, the robot model was copied and transformed to be placed at four different locations such that the user watches four different views in the same graphics environment. This novel method was used to avoid multiple windows or viewports and was observed to have a marginally better rendering rate. Several trials of picking up cylindrical objects (pegs) and moving them and placing in cylindrical holes were carried out and it was found that the manipulation was intuitive, even for a novice user.

An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks The concept of teleoperation has been studied since the advent of robotics and has found use in a wide range of applications, including exploration of remote or dangerous environments (e.g., space missions, disaster management), telepresence based time optimisation (e.g., remote surgery) and robot learning. While a significant amount of research has been invested into the field, intricate manipulation tasks still remain challenging from the user perspective due to control complexity. In this paper, we propose an intuitive, affordances oriented telemanipulation framework for a dual robot arm hand system. An object recognition module is utilised to extract scene information and provide grasping and manipulation assistance to the user, simplifying the control of adaptive, multifingered hands through a commercial Virtual Reality (VR) interface. The systemxe2x80x99s performance was experimentally validated in a remote operation setting, where the user successfully performed a set of bimanual manipulation tasks.