Journal
IEEE TRANSACTIONS ON HAPTICS
Volume 6, Issue 4, Pages 484-495Publisher
IEEE COMPUTER SOC
DOI: 10.1109/ToH.2013.23
Keywords
Telerobotics; cooperative teleoperation; haptics; nonholonomic robot; multilateral control; human factors
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Funding
- Natural Sciences and Engineering Research Council (NSERC) of Canada
- MDA Space Missions (Brampton, Ontario, Canada)
- Quanser (Markham, Ontario, Canada)
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A series of human factors experiments involving maneuvering and grasping tasks are carried out to evaluate the effectiveness of a novel asymmetric semiautonomous teleoperation (AST) control design framework for teleoperation of mobile twin-arm robotic manipulators. Simplified configurations are examined first to explore control strategies for different aspects of such teleoperation tasks. These include teleoperation of a nonholonomic mobile base, telemanipulation of a dual-arm robot, and dual-arm/dual-operator teleoperation task scenarios. In two sets of experiments with a planar nonholonomic mobile base, teleoperation via a 3DOF planar haptic interface with position mapping and force reflection of the nonholonomic constraint decreases task-completion-time (TCT) and reduces unwanted collisions. In dual-arm and dual-operator teleoperation maneuverability experiments, the assignment of decoupled and nonconflicting control frames reduces TCT and unwanted contacts. The use of so-called soft constraints via passive semiautonomous control reduces TCT and unwanted block drops in telegrasping experiments with a twin-arm manipulator. A final comprehensive experiment encompassing elements of the simplified configurations demonstrates the effectiveness of AST control framework in dual-operator teleoperation of a twin-arm mobile manipulator.
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