Teleoperation offers the possibility of imparting robotic systems with
sophisticated reasoning skills, intuition, and creativity to perform tasks.
However, current teleoperation solutions for high degree-of-actuation (DoA),
multi-fingered robots are generally cost-prohibitive, while low-cost offerings
usually provide reduced degrees of control. Herein, a low-cost, vision based
teleoperation system, DexPilot, was developed that allows for complete control
over the full 23 DoA robotic system by merely observing the bare human hand.
DexPilot enables operators to carry out a variety of complex manipulation tasks
that go beyond simple pick-and-place operations. This allows for collection of
high dimensional, multi-modality, state-action data that can be leveraged in
the future to learn sensorimotor policies for challenging manipulation tasks.
The system performance was measured through speed and reliability metrics
across two human demonstrators on a variety of tasks. The videos of the
experiments can be found at this https URL

本研究设计了一个低成本的基于视觉的遥操作系统 DexPilot，透过观察裸露的人手简单操作即可完全控制拥有 23 个 DoA 的机器人系统，能够执行各种复杂的操作，收集高维度、多模态的状态 - 行动数据，为未来学习挑战性操作任务的感觉运动策略奠定基础。