Vision-based Gesture Tracking for Teleoperating Mobile Manipulators

—In unconstrained environments, teleoperation exists in consumer-level robots. Motion capture technology has been shown to shrink the skill gap between end user and of robots, however, equipment is getting more expensive complex such as with motion suits. This paper provides a vision-based method camera reduce costs make accessible for consumers. The hand coordinates received from are estimated through Google MediaPipe, posture estimation package. Teleoperation strategies composed gestures. We conduct simulation study on Husky robotic platform manipulator PyBullet demonstrate control framework various