{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T14:23:47Z","timestamp":1761920627027,"version":"3.41.2"},"reference-count":34,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2019,5,20]],"date-time":"2019-05-20T00:00:00Z","timestamp":1558310400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,5,20]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to present a human-in-the-loop natural teaching paradigm based on scene-motion cross-modal perception, which facilitates the manipulation intelligence and robot teleoperation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The proposed natural teaching paradigm is used to telemanipulate a life-size humanoid robot in response to a complicated working scenario. First, a vision sensor is used to project mission scenes onto virtual reality glasses for human-in-the-loop reactions. Second, motion capture system is established to retarget eye-body synergic movements to a skeletal model. Third, real-time data transfer is realized through publish-subscribe messaging mechanism in robot operating system. Next, joint angles are computed through a fast mapping algorithm and sent to a slave controller through a serial port. Finally, visualization terminals render it convenient to make comparisons between two motion systems.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Experimentation in various industrial mission scenes, such as approaching flanges, shows the numerous advantages brought by natural teaching, including being real-time, high accuracy, repeatability and dexterity.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The proposed paradigm realizes the natural cross-modal combination of perception information and enhances the working capacity and flexibility of industrial robots, paving a new way for effective robot teaching and autonomous learning.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2018-0118","type":"journal-article","created":{"date-parts":[[2019,7,22]],"date-time":"2019-07-22T08:22:51Z","timestamp":1563783771000},"page":"404-414","source":"Crossref","is-referenced-by-count":9,"title":["Natural teaching for humanoid robot via human-in-the-loop scene-motion cross-modal 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