Ubiquitous Robot Control Through Multimodal Motion Capture Using Smartwatch and Smartphone Data
<|reference_start|>Ubiquitous Robot Control Through Multimodal Motion Capture Using Smartwatch and Smartphone Data: We present an open-source library for seamless robot control through motion capture using smartphones and smartwatches. Our library features three modes: Watch Only Mode, enabling control with a single smartwatch; Upper Arm Mode, offering heightened accuracy by incorporating the smartphone attached to the upper arm; and Pocket Mode, determining body orientation via the smartphone placed in any pocket. These modes are applied in two real-robot tasks, showcasing placement accuracy within 2 cm compared to a gold-standard motion capture system. WearMoCap stands as a suitable alternative to conventional motion capture systems, particularly in environments where ubiquity is essential. The library is available at: www.github.com/wearable-motion-capture.<|reference_end|>
@article{weigend2024ubiquitous,
    title={Ubiquitous Robot Control Through Multimodal Motion Capture Using
  Smartwatch and Smartphone Data},
    author={Fabian C Weigend, Neelesh Kumar, Oya Aran, Heni Ben Amor},
    journal={arXiv preprint arXiv:2406.01117},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.01117},
    primaryClass={cs.RO}
}