Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators

This paper presents a motion-capture based control framework for the purpose of effectively teleoperating two legged manipulators without significant delays caused by the switching of controllers. The control framework generates high-level trajectories in 6 degrees of freedom and uses finger gesture detection to act as triggers in selecting which robot to control as well as toggling various aspects of control such as yaw rotation of the quadruped platform. The functionality and ease of use of the control framework are demonstrated through a real-life experiment where the operator controls two quadrupedal manipulator robots to open a spray can. The experiment was successfully accomplished by the proposed teleoperation framework.