{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-mobile-robot-hand-arm-teleoperation-system","title":"A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU","arxiv_id":"2003.05212","date":"2020-03-11","proceeding":null,"authors":["Shuang Li","Jiaxi Jiang","Philipp Ruppel","Hongzhuo Liang","Xiaojian Ma","Norman Hendrich","Fuchun Sun","Jianwei Zhang"],"abstract":"In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates not only joint angles but also depth images of paired robot hand poses through an image-to-image translation process. A keypoint-based reconstruction loss explores the resemblance in appearance and anatomy between human and robotic hands and enriches the local features of reconstructed images. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system. Network evaluation results on a test dataset and a variety of complex manipulation tasks that go beyond simple pick-and-place operations show the efficiency and stability of our multimodal teleoperation system.","url_abs":"https://arxiv.org/abs/2003.05212v1","url_pdf":"https://arxiv.org/pdf/2003.05212v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-mobile-robot-hand-arm-teleoperation-system","repo_url":"https://github.com/Smilels/multimodal-translation-teleop","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"anatomy","task_name":"Anatomy"},{"task_slug":"image-to-image-translation","task_name":"Image-to-Image Translation"},{"task_slug":"translation","task_name":"Translation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2003.05212","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}