@inproceedings{51364b9b7eca48b08b1b3ac92ced04e3,
title = "Manipulator control based on the dual quaternion framework for intuitive teleoperation using kinect",
abstract = "This paper proposes a control system for intuitive operation of robotic manipulators based on the dual quaternion framework. The system is entirely developed using the Robotic Operating System (ROS). It contains both low level interface and end effector controllers for a Schunk Lightweight Arm and simple communication with sensor devices like Kinect. For validation of the system we perform a pick and place teleoperation with the robot's gripper using the position of the operator's hands as obtained from Kinect.",
keywords = "Human-robot interaction, Robot control, ROS",
author = "Marinho, {Murilo M.} and Geraldes, {Andr{\'e} A.} and B{\'o}, {Ant{\^o}nio P.L.} and Borges, {Geovany A.}",
year = "2012",
doi = "10.1109/SBR-LARS.2012.59",
language = "English",
isbn = "9780769549064",
series = "Proceedings - 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, SBR-LARS 2012",
pages = "319--324",
booktitle = "Proceedings - 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, SBR-LARS 2012",
note = "2012 1st Brazilian Robotics Symposium, SBR 2012 and 9th Latin American Robotics Symposium, LARS 2012 ; Conference date: 16-10-2012 Through 19-10-2012",
}