Vision-Based Hand Shadowing for Robotic Manipulation via Inverse Kinematics
Teleoperation of low-cost robotic manipulators remains challenging due to the difficulty of retargeting human hand motion to robot joint commands. We present an offline hand-shadowing inverse-kinematics (IK) retargeting pipeline driven by a single egocentric RGB-D camera mounted on 3D-printed glasses. The pipeline detects 21 hand landmarks per hand using MediaPipe Hands, deprojects them into 3D via depth sensing, transforms them into the robot coordinate frame, and solves a damped-least-squares IK problem to produce joint commands for the SO-ARM101 robot (5 arm + 1 gripper joints). A gripper controller maps thumb-index finger geometry to grasp aperture with a multi-level fallback hierarch...
| Authors | Hendrik Chiche, Antoine Jamme, Trevor Rigoberto Martinez et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 March 2026 |
| Last updated at source | 12 May 2026 |
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