期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 37, 期 6, 页码 2052-2066出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2021.3071530
关键词
Robots; Task analysis; Robot kinematics; Impedance; Mobile robots; Mice; Control systems; Medical application; multi-robot control; tele-impedance
类别
资金
- European Research Council [850932]
- European Research Council (ERC) [850932] Funding Source: European Research Council (ERC)
This article introduces an online scalable tele-impedance framework for individual and collaborative control of multiple robotic platforms. The framework allows easy addition or removal of robots through the virtual hand concept. Experimental results demonstrate the framework's adaptability to various robotic platforms, the number of robots involved, and task requirements.
In this article, we present an online scalable tele-impedance framework, which enables the individual and collaborative control of multiple different robotic platforms. The framework provides an intuitive low-cost interface with visual feedback and a SpaceMouse, through which the operator can define the desired task-level trajectories and impedance profiles. With a simple mouse click, the user can switch between the robots and the collaborative operation mode. The control, subsequently, manages the distribution of the required parameters into the involved robots. Thanks to the introduced virtual hand concept, where each robot is defined as a finger, new robots can be easily added or removed via their kinodynamic parameters. The proposed framework was evaluated with three different experiments: a simulated auscultation on a mock-up patient, a cooperative task where a robot drives the patient on a wheelchair and a different robot performs the auscultation, and a collaborative task where two robots relocate a container. The results demonstrate the capabilities of the framework in terms of adaptability to different robotic platforms, the number of robots involved, and the task requirements. Additionally, quantitative and subjective analysis of 12 subjects showed how the developed interface, even in the presence of inaccurate visual feedback, allowed a smooth and accurate execution of the tasks.
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